Abb Manuale BSDS - Draft01-1

Index 1
Index I
Chapter 0 - Introduction
0.1 Safety Precautions....................................................................................................... 0-2
0.2 Outline of System......................................................................................................... 0-11
0.2.1 Servomotor............................................................................................................ 0-11
0.2.2 Servo Amplifier...................................................................................................... 0-12
0.3 Model Nomenclature.................................................................................................... 0-13
0.3.1 Servomotor............................................................................................................ 0-13
0.3.2 Servo Amplifier...................................................................................................... 0-14
0.4 Combination between Servomotor and Servo Amplifier.......................................... 0-15
0.4.1 BSDS Type............................................................................................................ 0-15
Chapter 1 Installation
1.1 Servomotor................................................................................................................... 1-2
1.1.1 Storage Environment............................................................................................ 1-2
1.1.2 Operating Environment......................................................................................... 1-2
1.1.3 Installing the Servomotor...................................................................................... 1-3
1.1.4 Water Proof and Oil Proof Properties.................................................................... 1-3
1.1.5 Servomotor Handling Precautions........................................................................ 1-4
1.1.6 Notes on Stress Given to Cable............................................................................ 1-4
1.1.7 Assembling Accuracy............................................................................................ 1-5
1.1.8 Allowable Load...................................................................................................... 1-6
1.1.9 Cautionary Items on Servomotor Equipped with a Brake..................................... 1-7
1.2 Servo Amplifier............................................................................................................. 1-8
1.2.1 Storage Environment............................................................................................ 1-8
1.2.3 Installing the Servo Amplifier................................................................................. 1-9
1.2.4 Depth of Control Panel.......................................................................................... 1-11
Chapter 2 Wiring
2.1 Configuration................................................................................................................ 2-2
2.1.1 Part Name............................................................................................................. 2-2
2.1.2 Configuration......................................................................................................... 2-5
2.1.3 Sequence I/O........................................................................................................ 2-10
2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA).......................................................... 2-12
2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ)...................................... 2-13
2.1.3.3 Z-Phase Output (FZ, M5)............................................................................ 2-13
2.1.3.4 Analog Input (VREF(TREF),M5)................................................................. 2-13
2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)............................. 2-14
2.1.3.6 Sequence Output (OUT1, OUT2, ... COMOUT)......................................... 2-14
2.1.4 RS-485 Communications (CN3)............................................................................ 2-14
2.1.5 Analog Monitor Output (CN4: MON1, MON2, and M5)......................................... 2-15
2.2 P-N Junction................................................................................................................. 2-16
2.3 Servomotor................................................................................................................... 2-17
2.3.1 Brake Connector................................................................................................... 2-17
2 Index
2.4 Encoder .................................................................................................................... 2-18

I 2.4.1 Encoder Cable...................................................................................................... 2-18
2.4.2 Encoder Cable...................................................................................................... 2-19
2.5 Description of I/O Signals........................................................................................... 2-21
2.6 Connection Example to Host Controller.................................................................... 2-90
2.6.1 Connection Example (Positioning terminal: NP1SF-HP4DT)............................... 2-91
2.6.2 Connection Example (Positioning module: NP1F-MP2)....................................... 2-92
2.6.3 Connection Example (Positioning module: F3YP14-0N/ F3YP18-0N)................. 2-93
2.6.4 Connection Example (Positioning unit: QD75 type).............................................. 2-94
Chapter 3 Operation
3.1 Signal Description (Priority among Input Signals)................................................... 3-2
3.2 Selection of Operation Procedure.............................................................................. 3-3
3.3 Operation Check.......................................................................................................... 3-4
3.3.1 Power On.............................................................................................................. 3-4
3.3.2 Power-On/Servo Control-Ready [S-RDY]............................................................. 3-5
3.3.3 Servo-On [S-ON]/Ready for Servo-On [RDY]....................................................... 3-5
3.3.4 If the Servomotor Fails to Start............................................................................. 3-6
3.3.5 Shutdown.............................................................................................................. 3-6
3.4 Operation .................................................................................................................... 3-7
3.4.1 Test Operation at Keypad...................................................................................... 3-7
3.4.2 Position Control (Pulse)........................................................................................ 3-8
3.4.3 Speed Control....................................................................................................... 3-10
3.4.4 Torque Control....................................................................................................... 3-11
3.4.5 Mode Selection..................................................................................................... 3-12
3.4.6 Extension Mode.................................................................................................... 3-13
3.4.7 Homing.................................................................................................................. 3-15
3.4.8 Interrupt Positioning.............................................................................................. 3-16
3.4.9 Torque Limit........................................................................................................... 3-18
3.4.10 Positioning Data Operation................................................................................. 3-19
3.4.11 Immediate Value Data Operation........................................................................ 3-20
3.4.12 Interrupting/Stopping Operation.......................................................................... 3-21
Chapter 4 parameter
4.1 Parameter Division....................................................................................................... 4-2
4.2 Basic Parameters......................................................................................................... 4-2
4.2.1 List (PA1_)....................................................................................................... 4-2
4.2.2 Description of Each Parameter............................................................................. 4-4
4.3 Control Gain and Filter Setting Parameter................................................................. 4-27
4.3.1 List (PA1_)....................................................................................................... 4-27
4.4 Automatic Operation Setting Parameter.................................................................... 4-39
4.4.1 List (PA2_)....................................................................................................... 4-39
4.5 Extended Function Setting Parameter....................................................................... 4-80
4.5.1 List (PA2_)....................................................................................................... 4-80
4.6 Input Terminal Function Setting Parameter............................................................... 4-94
4.6.1 List (PA3_)....................................................................................................... 4-94
Index 3

4.7 Output Terminal Function Setting Parameter............................................................ 4-101 I
4.7.1 List (PA3_).............................................................................................................. 4-101
4.7.2 Description of Each Parameter................................................................................... 4-102
Chapter 5 Servo Adjustment

5.1 Adjustment Procedure................................................................................................. 5-2
5.2 Easy Tuning.................................................................................................................. 5-3
5.2.1 What is Easy Tuning?........................................................................................... 5-3
5.2.2 Easy Tuning Operation Profile.............................................................................. 5-3
5.2.3 Description of Operation....................................................................................... 5-5
5.3 Auto Tuning.................................................................................................................. 5-9
5.3.1 Conditions for Auto Tuning.................................................................................... 5-9
5.3.2 Parameters Used for Auto Tuning......................................................................... 5-9
5.3.3 Approximate Reference Value of Auto Tuning Gain 1........................................... 5-10
5.3.4 Auto Tuning Adjustment Procedure....................................................................... 5-11
5.4 Auto Tuning Application.............................................................................................. 5-12
5.4.1 Parameters Used for Auto Tuning Application...................................................... 5-12
5.4.2 Notch Filter Setting Method................................................................................... 5-13
5.4.3 Adjustment Procedure with Auto Tuning Application............................................. 5-15
5.5 Manual Tuning.............................................................................................................. 5-16
5.5.1 Conditions for Manual Tuning............................................................................... 5-16
5.5.2 Parameters Used for Manual Tuning.................................................................... 5-16
5.5.3 Approximate Gain Reference Value...................................................................... 5-16
5.5.4 Manual Tuning Adjustment Procedure.................................................................. 5-17
5.5.5 Individual Adjustment............................................................................................ 5-18
5.6 Interpolation Operation Mode..................................................................................... 5-19
5.6.1 Conditions for Interpolation Operation Mode........................................................ 5-19
5.6.2 Parameters Used for Interpolation Operation Mode............................................. 5-19
5.6.3 Adjustment Procedure in Interpolation Operation Mode....................................... 5-20
5.7 Trace Operation Mode.................................................................................................. 5-21
5.7.1 Conditions for Trace Operation Mode................................................................... 5-21
5.7.2 Parameters Used for Trace Operation Mode........................................................ 5-21
5.7.3 Adjustment Procedure in Trace Operation Mode.................................................. 5-22
5.8 Short cycle time Operation Mode............................................................................... 5-23
5.8.1 Conditions for Short cycle time Operation Mode.................................................. 5-23
5.8.2 Parameters Used for Short cycle time Operation Mode....................................... 5-23
5.8.3 Adjustment Procedure in Short cycle time Operation Mode................................. 5-24
5.9 Profile Operation.......................................................................................................... 5-25
5.9.1 What is Profile Operation?.................................................................................... 5-25
5.9.2 Description of Operation....................................................................................... 5-26
5.10 Special Adjustment (Vibration Suppression).......................................................... 5-28
5.10.1 What is Vibration Suppression ?......................................................................... 5-28
5.10.2 Automatic Vibration Suppression........................................................................ 5-30
5.10.3 Manual Adjustment of Vibration Suppression..................................................... 5-31
Chapter 6 Keypad
6.1 Display .................................................................................................................... 6-2
6.1.1 Mode .................................................................................................................... 6-2
4 Index
6.1.2 Key 6-3

I 6.1.3 Blinking Display..................................................................................................... 6-3
6.1.4 Displaying Upper/middle/lower Data..................................................................... 6-3
6.1.5 Mode Selection..................................................................................................... 6-4
6.2 Function List................................................................................................................. 6-5
6.3 Sequence Mode............................................................................................................ 6-9
6.4 Monitor Mode................................................................................................................ 6-13
6.5 Station Number Mode.................................................................................................. 6-27
6.6 Maintenance Mode....................................................................................................... 6-28
6.7 Parameter Edit Mode................................................................................................... 6-33
6.8 Positioning Data Edit Mode......................................................................................... 6-39
6.9 Test Operation Mode.................................................................................................... 6-43
Chapter 7 Maintenance And Inspection

7.1 Inspection 7-2
7.2 Status Display............................................................................................................... 7-3
7.2.1 Initial State............................................................................................................ 7-3
7.2.2 State at Alarm........................................................................................................ 7-3
7.2.3 Alarm Display List.................................................................................................. 7-4
7.3 Troubleshooting Method............................................................................................. 7-6
7.4 Items to be Inquired upon Trouble............................................................................. 7-16
7.5 Maintenance and Discarding...................................................................................... 7-17
7.5.2 Life 7-18
7.5.3 Discarding............................................................................................................. 7-18
7.6 Approximate Replacement Timing............................................................................. 7-19
7.7 Troubleshooting........................................................................................................... 7-20
Chapter 8 Specifications
8.1 Specifications of Servomotor..................................................................................... 8-2
8.1.1 BSMS Motor(200W-750W).................................................................................. 8-2
8.1.2 BSMS Motor(1kW-3kW)...................................................................................... 8-4
8.1.3 BSMS Motor(100W)............................................................................................. 8-6
8.2 Specifications of Servo Amplifier............................................................................... 8-12
8.2.1 Common Specifications..................................................................................... 8-12
8.2.2 Interface Specifications...................................................................................... 8-13
8.3 Dimensions of Servomotor......................................................................................... 8-14
8.3.1 BSMS Motor(200W-750W)................................................................................... 8-14
8.3.2 BSMS Motor(200W-750W) (With a Brake)........................................................... 8-14
8.3.3 BSMS Motor(1kW-3kW)........................................................................................ 8-15
8.3.4 BSMS Motor(1kW-3kW)(With a Brake)................................................................. 8-15
8.3.5 BSMS Motor(100W).............................................................................................. 8-18
8.3.6 BSMS Motor(100W) (With a Brake)...................................................................... 8-18
8.4 Dimensions of Servo Amplifier................................................................................... 8-19
8.5 Optional Specification of Shaft Extension [With a Key, Tapped]............................. 8-20
Chapter 9 Characteristics
9.1 Timing Chart................................................................................................................. 9-2
Index 5
9.1.1 Power-On Timing.................................................................................................. 9-2

9.1.2 Each Signal Timing............................................................................................... 9-3 I
9.1.3 Control Mode Selection Timing............................................................................. 9-4
9.1.4 Alarm Reset Timing............................................................................................... 9-4
9.2 Overload Characteristic............................................................................................... 9-5
9.2.1 BSMS Motor (0.1kW to 0.75kW)........................................................................... 9-5
9.2.2 BSMS Motor (1kW to 3kW)................................................................................... 9-7
9.3 Power Supply Capacity and Generated Loss............................................................ 9-10
9.4 Inrush Current.............................................................................................................. 9-11
9.5 Bending Strength of Cable.......................................................................................... 9-12
6 Index
I
Introduction 7
0
0.1 Safety Precautions
(1) Types and meanings of warning signs
Before starting installation, wiring work, maintenance or inspection, read through this
manual and other attached documents.
Be familiar with the device, safety information and precautions before using.
In this manual, safety precautions are described in two categories: “WARNING” and
“CAUTION.”
Warning sign Meaning

Negligence of description will cause danger in which deaths
WARNING
or serious injuries may be caused.
Negligence of description will cause danger in which minor or
CAUTION
medium injuries or material losses may be caused.
Description given in the “CAUTION” category may cause serious results under some
circumstances.
All descriptions are critical and should be strictly observed.
After reading, keep the manual in a place where users can refer to it at any time.
(2) Graphic symbols

Graphic symbols are used when necessary.
Graphic symbol Meaning Graphic symbol Meaning

Do not touch Make sure to make
grounding
Do not disassemble
Notice of general
prohibition
8 Introduction
 Precautions on use
Warning
0 • Do not touch the inside of the servo amplifier.
There is a risk of electric shock.
• Make sure to ground the grounding terminal of the servo amplifier and
servomotor. There is a risk of electric shock.
• Before performing wiring or inspection, turn the power off and wait for at least
five minutes, and check that the charge LED is unlit.
• If the charge LED is off even though the power is turnd on, the fuse inside the
servo amplifier may be blown. To check the fuse, wait five minutes or more after
turning off the power.
• Do not give damage or unreasonable stress to cables. Do not place a heavy
matter on them or do not pinch them.
It might cause failure, breakage and electric shock.
• Do not touch the rotating part of the servomotor during operation.
It might cause injuries.
Caution
• Use the servomotor and servo amplifier in a designated set.

It might cause fire and failure.
• Perform the wiring correctly and firmly.
It might cause failure.
• Never use at places susceptible to water splashes, in corrosive atmosphere, in
flammable gas atmosphere or near flammable matters.
It might cause fire and failure.
• As the servo amplifier, servomotor and peripheral devices temperature will
become high and requires careful considerations.
There is a risk of burns.
• Do not touch the heat sink of the servo amplifier, regenerative resistor,
servomotor and so on while they are turned on and for a while after they are
turned off due to high temperature. There is a risk of burns.
• If the surface temperature of the servomotor exceeds 70°C during operation of
the servomotor of the final assembly, affix a “hot” caution label.
• If a regenerative resistor is used, take measures to turn the power off upon a
fault signal output from the servo amplifier.
Otherwise the regenerative gresistor may be overheated and cause fire in the
event of failure of the regenerative transistor.
Introduction 9
 Precautions on storage
Caution
• Do not store at places susceptible to rain or water splashes or toxic gases or 0

liquid.
• Store at places without direct sunshine within the predetermined temperature
and humidity range (between -20°C and +60°C, between 10% and 90% RH,
without condensation).
• To store in the installed state.
Cover the entire servomotor with a sheet to protect against vapor, oil and water.
Apply an anticorrosive agent on machined surfaces such as the shaft and flange
face.
To avoid rust on bearings, turn manually or operate for five minutes without a
load about once a month.
 Precautions on transportation
Caution
• Do not hold cables or motor shaft when transporting.

It might cause failure and injuries.
• Overloaded products will cause collapse of cargo, hence observe the
requirements.
• The eye bolt of the servomotor shall be applied exclusively for transportation of
the servomotor. Do not use it to transport machineries.
• For detailed description regarding lithium batteries, refer to “CHAPTER 15.
APPENDIXES.”
• Fumigation process before shipment
The internal parts of servo amplifiers may get corroded due to a halogen
compound gas such as methyl bromide which is used for fumigation process in
packaging, resulting in damage of the product.
When shipping servo amplifiers by installing them to a board or unit, pack them
using wooden materials which have been processed with fumigation treatment.
10 Introduction
 Precautions on installation
Caution
0 • Do not ride on the servomotor or place a heavy matter on it.
It might cause failure, breakage, electric shock and injuries.
• Do not block the exhaust port or do not allow foreign substance to enter.
It might cause fire and electric shock.
• Observe the installation orientation of the servo amplifier.
Otherwise, it might cause fire and failure.
• Do not apply strong impact.
• The shaft-through hole of the servomotor is not water proof or oil proof. Take
measures on the machine side to block entry of water, coolant or similar from
entering inside the servomotor.
• If case of application when massive water or oil is splashed on the main body of
the servomotor, install a water or oil splash guard or take similar measures on
the machine side.
• In a humid and high oil mist environment, install the lead wires and connectors
in a face down orientation.
It might cause poor insulation, short circuit and resultant failure.
Do not disassemble
• Never remodel the servomotor and servo amplifier.

It might cause fire and failure. It will not be covered by the warranty.
Do not hammer
• Do not apply strong impact on the output shaft of the servomotor.

It might cause damage to the encoder inside the motor.
Introduction 11
 Precautions on wiring
Caution
• Never apply the commercial power supply to the U, V and W terminals of the 0
servomotor. It might cause fire and failure.
• Do not connect the grounding (E) cable to the U, V and W terminals of the
servomotor. Do not connect the U, V and W terminals in inappropriate order.
It might cause fire or failure. Also there is a risk of damaging your mechanical
equipment due to motor malfunction.
• Make sure to check if the motor cable is connected properly. If open phase faulty
has been occurred with the motor power cable wiring (U, V, and W), the motor
will not rotate even if a command is given, failing in detecting any alarm such as
OL and OS.
• When fabricating an encorder cable, be careful not to reverse the porality
between BAT+ and BAT-. If the battery is connected with wrong polarity, the both
battery terminals may become short circuit, generating abnormal heat or causing
damage to the battery.
• Never perform a dielectric, Megger or buzzer test to the encoder terminals.
Otherwise the encoder will be damaged.
• To perform a dielectric, Megger or buzzer test to the U, V and W terminals of the
servomotor, disconnect the servo amplifier.
• Do not connect encoder terminals in inappropriate order.
Otherwise the encoder and servo amplifier will be damaged.
• In an adverse power supply environment, insert a protective device such as the
AC reactor so that the voltage fluctuation is contained within the rating.
Otherwise the servo amplifier will be damaged.
• Install a circuit breaker or similar safety devices for short circuits in external
wiring. There is a risk of fire or failure.
• Do not remove the cover or disconnect the cable, connector or optional device
with the servo amplifier turned on. There is a risk of electric shock to human
body, product operation stop, and burnout.
• Use the servo system under the specified voltage range.
• Do not tie signal cables or route them in the same duct with main power cable or
servo amplifier motor output cable.
• Use the designated wiring material. In particular, use the option cable or
equivalent for the encoder cable.
• Do not insert a phase advance capacitor, various filter, reactor or similar on the
output side of the servo amplifier.
• The servo amplifier cannot be protected from ground fault fully.
Ground
• Be sure to connect the grounding terminal of the servo amplifier to a grounding

electrode. There is a risk of electric shock.
12 Introduction
 Precautions on operation
Caution
0 • In order to avoid unstable motions, never change adjustment radically.
• To perform test operation, fix the servomotor and leave it disconnected from the
mechanical system. After checking the motion, connect to the machine.
Otherwise, it might cause injuries.
• The retention brake incorporated in the servo motor is not a stopping unit for
assuring safety of the machine. Install a stopping unit on the machine side to
assure safety.
• When an alarm occurs, resolve the cause and assure safety before performing
alarm reset and restarting operation.
• Stay away from the machine after power failure and power restoration because
sudden restart may be triggered. (Design the machine so that personal safety is
secured even if the machine restarts suddenly.)
• The brake incorporated in the servomotor is for retention. Do not use it for
regular regenerative operation.
It might cause failures and injuries.
• Install an external emergency stop circuit so that operation can be stopped
immediately and the power can be turned off.
Otherwise, it might cause fire, failure, burns and injuries.
• Before installing to the machine and starting operation, enter parameters
matching the machine. If the machine is operated without entering parameters,
the machine may unexpectedly malfunction and cause failure.
• To use the servomotor in a vertical travel, install a safety device (Such as
external brake) to prevent the mechanical movable part from dropping in case of
alarm or similar.
• If auto tuning is not used, be sure to enter the “inertia ratio.”
Introduction 13
 General precautions
Caution
• Drawings in this manual may show the state without covers or shields for safety 0
to explain in details. Restore the covers and shields in the original state when
operating the product.
• In case of disposal of the product, comply with the following two laws and act
in accordance with each regulation. These laws are effected in Japan. Outside
Japan, local laws have priority. When necessary, give notification or indication
on the final assembly to be compliant with legal requirements.
(1) Law Concerning Promotion of Effective Use of Resources (Law for Promotion
of Effective Utilization of Resources)
Recycle and collect resources from the product to be discarded, as far as
possible. It is recommended to disassemble the product into iron dust, electric
parts and so on and sell them to appropriate subcontractors to recycle and
collect resources.
(2) Waste Disposal and Public Cleaning Law (Waste disposal & law public
cleansing law)
It is recommended to recycle and collect resources from the product, which is
to be discarded, according to the aforementioned law (Law for Promotion of
Effective Utilization of Resources, and to reduce waste.
In case unnecessary product cannot be sold and will be discarded, the product
falls in the category of industrial waste described in the law. The industrial
waste must be handled in due course including to request an authenticated
subcontractor to dispose of the product and control manifesto.
The battery used in the product falls in the category of called “primary battery”
and must be discarded in the due course as required by the corresponding
local government.
 Harmonics suppression measures (for Japan)
(1) All models of the servo amplifier used by the special customer are applicable
to “guideline of harmonics suppression measures for high voltage or special
high voltage customers.” The guideline requires the customer to calculate the
equivalent capacity and harmonics outflow current according to the guideline
and, if the harmonics current exceeds the limit stipulated for the contract
wattage, corresponding countermeasures must be taken.
For details, refer to JEM-TR225.
(2) The servo amplifier was excluded from the scope of “guideline of harmonics
suppression measure for electric appliances and general purpose products”
from January 2004. JEMA is preparing a new technical document in the
position to educate total harmonics suppression measures. Harmonics
suppression measures of the discrete device should be taken as far as
possible.
Source: The Japan Electrical Manufacturers’ Association (JEMA)
14 Introduction
 Compliance with EU directives
EU directives aim at integration of regulations among the EU member countries

to promote distribution of safety assured products. It is required to satisfy basic
0 safety requirements including machine directive (enacted in January 1995), EMC
directive (enacted in January 1996), and low voltage directive (enacted in January
1997) and affix a CE mark (CE marking) on the product sold in EU member
countries. Machines and devices housing the servo system are subjected to CE
marking.
The servo system does not function independently but is a component to be used
in combination with machines and equipments. For this reason, the servo system
is not applicable to the EMC directive but the machine or equipment including the
servo system is applicable.
In order to facilitate CE marking declaration on the assembly machine or
equipment of the servo system, optional devices that are compliant with the low
voltage directive and that support compliant with the EMC directive as well as a
relevant guideline are prepared.
 Compliance with RoHS directive
RoHS directive concerns with toxic materials and it was made into effective on
July 1, 2006 in the EU member countries. The directive prohibits inclusion of
toxic materials in electric and electronic devices. Regulated materials include
Pb (lead), Cd (cadmium), Cr6+ (hexavalent chromium), Hg (mercury), PBB
(polybromobiphenyl), PBDE (polybromobiphenyl ether).
This servo system is compliant with the RoHS directive.
The color (screw color, etc.), gloss and material may be different from those of
conventional products in order to comply with the RoHS directive, but will not
cause an effect in the performance and specifications.
 Service life of EEPROM
This product is equipped with EEPROM for retaining parameter data in the event
of power failure. The write enable frequency of EEPROM is about 100,000 cycles.
After the following operation is repeated 100,000 times or more, the risk of the
servo amplifier failure becomes higher.
• Parameter editing
• Position preset of absolute position system
• Batch transfer of parameters
Introduction 15
 EC Directive and UL/CSA Standard

• UL (North American Standards for Safety)
UL standard
0
Servo amplifier UL508C
Servomotor UL1004
• EC Directive
Low Voltage EMC Directive

Directive EMI EMS
Servo amplifier EN61800-5-1 EN55011 EN61800-3
Class A group 1
Servomotor EN60034-1 EN55011 EN61800-3
EN60034-5 Class A group 1
(Note) The machine on your shop floor needs to be certified to each standard or directive when used as
the servo amplifier and the servo motor are devices to be embedded. Some of the models are in the
process to be certified.
16 Introduction
0.2 Outline of System

BSDS Series is an AC servo system that supports various host interfaces and
0 realizes the best motion control for the target machine.
0.2.1 Servomotor
The variation of the servomotor includes one types: Middle inertia type (BSMS).
*1: Except for the shaft-through part (and the connectors for BSMS motors of 0.75 kW or less)
*2: Models with a brake have “-B” at the end of the code.
0.2.2 Servo Amplifier

The servo amplifier of general-purpose interface type is prepared.
Introduction 17
0.3 Model Nomenclature

 When unpacking
0
Check the following items.
• Check if the delivered item is what you have ordered.
• Check if the product is not damaged during transportation.
• Check if the instruction manual is included.
If you have any uncertainties, contact the seller.
0.3.1 Servomotor
0.3.2 Servo Amplifier

The model name and serial number are also marked on the front panel of the servo
amplifier body.
18 Introduction
0.4 Combination between

0
Servomotor and Servo
Amplifier
Use the servomotor and servo amplifier in one of the following sets.
Do not use them of other combinations.
0.4.1 BSDS Type
Power Drive Motor w/o brake Motor w/ brake Nominal MAX

[W] speed speed
[rpm] [rpm]
100 BSDS0100 BSMS0100CN00 BSMS0100CB00 3000 6000
Installation 19
1
1.1 Servomotor
1.1.1 Storage Environment
Select the following environment when storing the servomotor, or when resting the
machine under the state without power distribution.
Item Environmental condition

Ambient temperature -20 to +60°C (no freezing allowed)
Ambient humidity 10 to 90% RH (no condensation allowed)
1.1.2 Operating Environment

Operate the servomotor in the following environment.

Indoors at altitude ≤ 1000 m free from powder dust,
Location
corrosive gases and direct sunlight
49 m/s2 or less (3000 r/min, 0.75 kw or less)
Vibration 24.5 m/s2 or less (3000 r/min, 1 kw or more)
24.5 m/s2 or less (1500 r/min, 2000 r/min)
Observe the following when operating.

• Install indoors at a place free from rainwater and direct sunshine.
• Do not operate in corrosive atmosphere including hydrogen sulfides, sulfurous
acid, chlorine, ammonia, sulfur, chlorine-based gases, acids, alkalis or salts or
near flammable gases or matters.
• Install at a place free from splashes of coolant, oil mist, iron powder and chips.
• Install in a well ventilated environment with less vapor, oil and water content.
20 Installation
• Install at a place advantageous for inspection and cleaning.

• Install at a place with less vibration or impact.
• Do not install in an airtight environment.
1.1.3 Installing the Servomotor

The servomotor can be installed horizontally or vertically with the shaft facing up or
down. The same rule applies to the brake-incorporated servomotor and gear head.
1 The symbol in the figure is the installation method symbol specified by JEM.
Description in parentheses ( ) indicates the earlier JEM symbol.
Flange type
IM B5 (L51) IM V1 (L52) IM V3 (L53)
1.1.4 Water Proof and Oil Proof Properties

• The servomotor itself has resistance against splashes in relatively small amount.
However, the shaft-through part is not water proof or oil proof. Take mechanical
protective measures to block entry of water and oil. Cover
• Install a cover in environments susceptible to much
water, oil or oil mist.※Keep the temperature inside Servomotor
the cover to 40-degree or less.
• Do not operate with cables immersed in oil.
• Some coolant types can provide on sealant, cable,
case or similar.
• To install the servomotor horizontally, install so that
the servomotor cables face down. To install the
servomotor vertically or at an oblique direction, route Oil
the cables to secure a cable trap (see the figure on
the right).
• In case of a servomotor equipped with an oil seal,
although noise might be created from the oil seal, it
will not effect any functional operation.
㻼㻰㻘㻖㻜㻔㻛㻜㻐㻔
㻤㻦㻃㻶㻨㻵㻹㻲㻃㻰㻲㻷㻲㻵
• To install the servomotor equipped with an oil seal in

㻩㼘㼍㼌㻃㻨㼏㼈㼆㼗㼕㼌㼆㻃㻩㻤
㻭㻤㻳㻤㻱
an orientation with the shaft facing up, take measures

to avoid accumulation of oil at the oil seal lip.
Cable trap
※ The protection level is the initial property.

Installation 21
1.1.5 Servomotor Handling Precautions
Do not hammer
• Do not give a strong impact on the output shaft of the servomotor.

Otherwise the encoder inside the motor will be broken.
• Align the center when connecting with the machine system. Use a flexible
coupling.
Use rigid one designed exclusively for servomotors whenever possible.
• Do not use a rigid coupling which does not allow errors between shafts.
Otherwise mechanical vibration will be caused, resulting in damaged bearings
and/or shorter service life.
• Do not supply commercial power directly to the servomotor. It will cause burnout.
The servomotor needs to be connected to an appropriate servo amplifier when
used.
For how to connect the servomotor to a servo amplifier, refer to “CHAPTER 2
WIRING.”
1.1.6 Notes on Stress Given to Cable

• In applications where the servomotor and machine movable part move, take
measures to avoid stress given on the cable.
• Route the encoder cable and motor power cable in CABLEVEYOR.
• Fix the encoder cable and motor power cable attached to the servomotor (routed
from the motor) with cable clamps or similar.
• Design the radius of bend as large as possible.
• Do not allow bending stress or stress caused by the self weight, at joints of the
cable.
22 Installation
1.1.7 Assembling Accuracy

The assembling accuracy of the servomotor is shown below.
Unit: [mm]
Servomotor model Runout at shaft Misalignment Perpendicularity of

end (flange) flange face
1 ～BSMS750 Within 0.02 Within 0.06 Within 0.08
BSMS1000～ Within 0.03 Within 0.08 Within 0.10
Misalignment Perpendicularity of
Runout at shaft end Misalignment
(flange) flange face
1.1.8 Allowable Load

The allowable radial load (Fr) and allowable thrust load (Fs) of the servomotor at the
shaft end (LR) are shown below.
Servomotor at
Radial load Thrust load
Motor model the shaft end
Fr[N] Fs[N] LR[mm]
BSMS200C 01 245 98 25 Radial load (Fr)
BSMS400C 01 245 98 25
BSMS750C 01 392 147 35
BSMS1000C 01 490 150 58 㻤㻦㻃㻶㻨㻵㻹㻲㻃㻰㻲㻷㻲㻵 Thrust
BSMS1500C 01 490 190 58 㻩㼘㼍㼌㻃㻨㼏㼈㼆㼗㼕㼌㼆㻃㻩㻤
㻼㻰㻘㻖㻜㻔㻛㻜㻐㻔㻭㻤㻳㻤㻱
load
BSMS2000C 01 490 220 58 (Fs)
BSMS3000C 01 740 180 58
Servomotor at the
BSMS100C 01 127 19 25
shaft end (LR)
Radial load: the load applied vertically to the motor shaft

Thrust load: the load applied horizontally to the motor shaft
Installation 23
1.1.9 Cautionary Items on Servomotor Equipped with a

Brake
• Brake noise
The brake lining may issue chattering noise during operation of the motor
equipped with a brake. As it is caused by brake structure and is not abnormal, the
noise will not effect functional operation.
• Others (shaft end magnetization)
The shaft end of the servomotor equipped with a brake is subject to leaking
1
magnetic flux during energization of the brake coil (when the brake is released). At
the instance, chips, screws and other magnetic bodies will be attracted. Cautions
are required.
• The servomotor equipped with a brake may produce brake dust due to the brake
timing shift generated between ON and OFF. Therefore when installing the motor
to the machine, it is recommended to install the motor horizontal to the machine
or under the shaft.
24 Installation
1.2 Servo Amplifier

1.2.1 Storage Environment
Select the following environment when storing the servo amplifier, or when resting
the machine under the state without power distribution.
1 Item Environmental condition

Location Indoors at altitude ≤ 1000 m free from powder dust,
Atmospheric pressure 70 to 106 kPa
Vibration 3 mm (Max. amplitude): Less than 2 to 9 Hz,
9.8 m/sec2: Less than 9 to 20 Hz,
2 m/sec2: Less than 20 to 55 Hz, 1 m/s2: Less than 55 to
200 Hz

Operate the servo amplifier in the following environment. The servo amplifier is
neither dust proof nor water proof.

Location Indoors at altitude ≤ 1000 m free from powder dust,
Vibration 3 mm(Max. amplitude): Less than 2 to 9 Hz,
9.8 m/sec2: Less than 9 to 20 Hz, 2 m/sec2: Less than 20
to 55 Hz,
1 m/sec2: Less than 55 to 200 Hz
Observe the following when operating.

• Install indoors at a place free from rainwater and direct sunshine.
• Do not operate in corrosive atmosphere including hydrogen sulfides, sulfurous
acid, chlorine, ammonia, sulfur, chlorine-based gases, acids, alkalis or salts or
near flammable gases or matters.
• Install in a well ventilated environment with less vapor, oil and water content.
• Install at a place with less vibration or impact.
• Do not operate in vacuum.
Installation 25
1.2.3 Installing the Servo Amplifier

(1) Install the servo amplifier vertically to the ground so that the “BSDS”
characters (see the arrow in the figure on the right) on the front
panel of the servo amplifier is horizontal.
Use M4 screws with length between 12 and 20 mm for the mounting to

the control panel.
Use screws together with plane washers or spring lock washers or use 1
3-piece sems screw to avoid looseness.
When using plane washers, select the finished round type (large size
with φ9 mm).
(2) Some parts of the servo amplifier generate heat during operation.
Cool the surroundings if the servo amplifier is installed inside the control panel.
Natural convection, air

tight structure Air purge Forced ventilation Heat exchanger
(totally enclosed type)
Servo
amplifier
Exhaust
air Exhaust
air
Servo Servo Servo

amplifier amplifier amplifier
Intake
air
Intake
Intake
air air
(3) To install two or more servo amplifiers in the same control panel, the following
shall be taken into consideration.
Arrange the servo amplifiers transversely in principle in order to avoid thermal
affection.
This servo amplifier is permitted to be installed side by side closely. However,
when installing two or more servo amplifiers with clearance of 5 mm or less
between them, operate them at 60% load factor or below with the ambient
temperature 45°C or lower.
If clearance of 5 mm or over between adjacent servo amplifiers is provided, no
limitation is imposed on the operation frequency.
26 Installation
(4) Keep the clearances shown below between a servo amplifier and a peripheral
equipment respectively to avoid rise in temperature of the servo amplifier.
1
Installation 27
1.2.4 Depth of Control Panel

Reserve 80 mm or a wider space in front of the servo amplifier which is connected
with the sequence I/O cable and encoder cable.
 Servo amplifier (frame 1)
Sequence I/O cable 1
Sequence I/O cable
Encoder
cable
Encoder
cable
Power supply and

motor power wiring
connector DC circuit
40
Power supply and connector

motor power wiring
connector DC80
circuit 165
40
connector Amplifier depth Unit : [mm]
80 165
 Servo amplifier (frame 2) Amplifier depth Unit : [mm]
Sequence I/O cable
Sequence I/O cable
Encoder
cable
Encoder
cable
80 165
Amplifier depth Unit : [mm]
80 165

28 Installation
Sequence I/O cable

Sequence I/O cable
1
Encoder cable
Encoder cable
80 185
80 185
Sequence I/O cable

Sequence I/O cable
Encoder cable
Encoder cable
80 195
80 195
Wiring 29
2
2.1 Configuration
2.1.1 Part Name
All wirings of the servo amplifier and servomotor of 3 kW or less are connected via
connectors.
 Servomotor
BSMS type 0.4 kW or less 㻤㻦㻃㻶㻨㻵㻹㻲㻃㻰㻲㻷㻲㻵
Encoder cable Motor power cable

(Lead length 300 mm) (Lead length 300 mm)
30 Wiring
0.4 kW or less
Keypad
4-digit 7-segment LED, 4 buttons and monitor
terminals are installed.
Analog monitor (CN4)
The analog waveform is monitored.
RS-485 (CN3A (IN), CN3B (OUT))
Upper side: CN3A, lower side: CN3B
2 Sequence I/O (CN1)
Battery and the case

Encoder wiring (CN2) (option)
Battery wiring (CN5)
Grounding terminal (2 pcs)
(Screw size : M4)
Power supply Motor power
(TB1) (TB3)
L1 U
Main circuit (TB2) * On the bottom
L2 V P-N junction of the amplifier
L3 W Regenerative
P(+)
resistor
RB1
Charge LED Amplifier bottom RB2
view N(-)
 Servomotor
Lead extraction type

BSMS type 0.75 kW
㻤㻦㻃㻶㻨㻵㻹㻲㻃㻰㻲㻷㻲㻵
Encoder wiring Motor power wiring

(Lead length 300 mm) (Lead length 300 mm)
Wiring 31
Keypad
Analog monitor (CN4) 4-digit 7-segment LED, 4 buttons and
The analog waveform is monitored. monitor terminals are installed.
Power supply L1
(TB1) RS-485 (CN3A (IN), CN3B
L2
- Main power (OUT))
L3 Upper side: CN3A, lower side: CN3B
Charge LED
2
P(+) Sequence I/O (CN1)
Main circuit
(TB2) RB1
- P-N junction RB2
- Regenerative
RB3
resistor Battery and the case
N(-) (option)
Motor power
U Encoder wiring (CN2)
(TB3)
V
W Battery wiring (CN5)

(Screw size : M4)
 Servo amplifier (frame3)

Analog monitor (CN4) Keypad
The analog waveform is monitored. 4-digit 7-segment LED, 4 buttons and monitor
terminals are installed.
Charge LED
RS-485 (CN3A (IN), CN3B (OUT))
L1 Upper side: CN3A, lower side: CN3B
Power supply
(TB1) L2
- Main power L3
Sequence I/O (CN1)
P(+)
Main circuit
(TB2) RB1
- P-N junction RB2
- Regenerative
resistor RB3
Encoder wiring (CN2)
N(-)
Motor power Battery wiring (CN5)
U
(TB3)
V
W Battery and the case

(option)

(Screw size : M4)
32 Wiring
2.1.2 Configuration
The figure on page 2-7 shows the general configuration of devices. There is no
need to connect all devices.
• The size on each device in the figure is not drawn at the uniform scale (same as
other chapters).
• To supply single-phase power to the servo amplifier, use the L1 and L2 terminals.
• The servo amplifier wiring connector is attached only to TB2 on the frames 2 and
3. It is not provided for other devices.
Use a connector kit or optional cable with a connector.
• Adopt a configuration for turning the main power off upon alarm detection (activation
2 of protective function of servo amplifier). Otherwise overheat of the regenerative
resistor, such as regenerative resistor transistor failure may cause fire.
• The maximum wiring length between the servo amplifier and servomotor is 50 m.
• You may not turn the power wiring of the servo amplifier or servomotor on or off
with a contactor or you may not drive multiple servomotors selectively with a single
servo amplifier.
• Do not connect any of the following devices to the power wiring of the servo
amplifier or servomotor.
・Phase advancing capacitor　・Various reactors　・Noise filter　・Surge absorber
• Be sure to ground the protective grounding terminal of the servo amplifier (terminal
provided with a grounding mark) to the protective ground of the control panel to
avoid electric shock.
Use the accessory tool in the following procedure to connect the terminal to TB1,
TB2 and TB3.
Wiring method <Frame 1, 2, 3>
[1] Peel off the sheath about 10 mm.
10[mm]
[2] Insert the tip of the accessory tool into the top of the connector.
[3] Push the tool toward the connector to insert the cable.
[4] Release the tool. The cable is fixed.
Note: do not solder the cable. In case of the strand wire, do not twist cable forcibly.
Wiring 33
1) Connecting to peripheral devices (Servo amplifier frame 1)

For lead wire type motors, connect cables as shown below.
MCCB/ELCB
AC reactor
Surge absorber Servo operator (optional)

Used for copying
parameters and editing 2
operations.
Power filter
Electromagnetic
contactor
Servo amplifier
RS-485
communications
(L1, L2, L3) CN3A
CN1
Sequence I/O cable
CN3B
The signals from push

buttons, various sensors, and
CN2
pulse input/output are
connected.
Motor power cable

TB1
Grounding terminal (M4)
Encoder cable
123456
TB2
External Regenerative
resistor
Servomotor

34 Wiring
Sample Connection Diagram (Servo amplifier frame 1)
External braking
regenerative
resistor
PN junction No
Nobuilt-in
built-inbraking resistorresistor
regenerative
Connect
Connectthe theexternal
externalbraking resistor
regenerative
across
resistorRB1 and RB1
across RB2.and RB2.
4 1 2 3
In case of the single-phase 200 V input N(-) P(+) RB1 RB2
Open Collector Connection
(24 VDC Power supply) commercial power supply, connect TB2
TB1
across L1 and L2 terminals. TB1
Controller L1
U 1ࠈࠈU
L2 2ࠈࠈV
V
L3
W 3ࠈࠈW 㹂
4
24 VDC
2
24 VDC 1ࠈࠈBr
CN3A(IN) 2ࠈࠈBr
Open Collector Connection 8 P5 CN2
(12 VDC Power supply) 7 M5
6 *TXD P5 1 7 P5
Controller 5 RXD M5 2 8 M5
4 *RXD
3 TXD +SIG 5 5 SIG+ PG
2 M5 -SIG 6 4 SIG-
1 P5 BAT+ 3 1 BAT+
BAT- 4 2 BAT-
CN3B(OUT) 3 FG
12 VDC
*㸦 *㸦
PC loader Servo Operator 8 NC
7 M5 Servomotor
6 *TXD
Connector CN3B 5 RXD
4 *RXD
Even at the end of the wiring, no 3 TXD
terminator is necessary. 2 M5 CN5
1 NC
BAT+ 2 Battery for ABS encoder
BAT-(M5) 1 data backup
3.6 VDC
CN1
Analog speed command 22 VREF

input 13 M5 CN4
Analog torque command 18 TREF
input
MON1 1
13 M5 MON2 2
M5 3
M5 4
Pulse
Powerinput
input at pulse open
(Open collector)
collector input *㸦
19ࠈPPI Oscilloscope
7 CA
Pulseinput
Pulse input 8 *CA FFA 9 A-phase pulse output (differential)
(Differential)
(differential) 20 CB *FFA 10
21 *CB FFB 11 B-phase pulse output (differential)
*FFB 12
*1 FFZ 23 Z-phase pulse output (differential)
*FFZ 24
* 1 COMIN FZ 25 Z-phase pulse output

M5 26 (open collector)
2 CONT1
Sequence input 3 CONT2
4 CONT3 OUT1 15
5 CONT4 OUT2 16
6 CONT5 OUT3 17 Sequence output
COMOUT 14
*1: Connect the shielding wire to the connector shell on CN1 and CN2, and then ground the connector shell.
Wiring 35
2) Connecting to peripheral devices (Servo amplifier frames 2, 3 and 4)

For the motors with the Cannon connector, connect cables as shown below.
MCCB/ELCB
AC reactor Servo Operator (optional)

Using this, parameter
Surge
copying and editing can be
absorber
performed.
2
Power filter
Servo amplifier
Electromagnetic
contactor
(L1, L2, L3)

TB1 CN3A
RS-485
CN3B communications
TB2 (Provided with body) Sequence I/O
CN1 cable
External regenerative resistor Connect pushbuttons,

(Disconnect the jumper wire and various sensors, and
connect across pins 2 and 3.) pulse input/output
signals.
Motor power cable
(Should be fabricated by the customer.)
CN2
TB3
G di
Grounding
terminal (M4)
molex
Encoder cable
Servomotor
36 Wiring
Sample Connection Diagram (Servo amplifier frames 2, 3 and 4)

External
External regenerative
braking
resistor
resistor Jumper wire
PN junction
Built-in regenerative
Built-inbraking resistorresistor provided.
provided.
Connectthe
Connect theexternal regenerative
externalbraking resistorresistor
across
5 1 2 3 4 across
RB1 andRB1
RB2and RB2
(24 VDC Power supply) N(-) P(+) RB1 RB2 RB3 (Remove
(Removethe thejumper
jumperwire
wirefrom
fromRB2
RB2- -RB3.)
RB3.)
In case of the single-phase 200 V input
TB2
commercial power supply , connect TB1
Controller
across L1 and L2 terminals. TB3
1 L1
U 1 1(A) U
2 L2
V 2 2(B) V
3 L3
W 3 3(C) W 䠟
4(D)
24 VDC
24 VDC 1(E) Br
CN3A(IN) 2(F) Br
2
(12 VDC Power supply) 8 P5 CN2
7 M5
Controller 6 *TXD P5 1 7(H)[B] P5
5 RXD M5 2 8(G)[I] M5
4 *RXD PG
3 TXD +SIG 5 5(C)[D] SIG+
2 M5 -SIG 6 4(D)[H] SIG-
1 P5 BAT+ 3 1(T) BAT+
BAT- 4 2(S) BAT-
12 VDC CN3B(OUT) 3 [F] FG
*䠃 *䠃
8 NC
PC loader Servo Operator 7 M5
6 *TXD ( ) GYG, GYC 1-2kW,
5 RXD GYS 1-5kW
Connector CN3B 4 *RXD
Even at the end of the wiring, 3 TXD [ ] GYH
no terminator is necessary. 2 M5 CN5 Servomotor
1 NC
BAT+ 2 Battery for ABS encoder
BAT-(M5) 1 data backup
3.6 VDC
CN1
Analog speed command 22 VREF

input 13 M5 CN4
Analog torque command 18 TREF MON1 1
input 13 M5 MON2 2
M5 3
M5 4
Pulse
Powerinput
input at pulse open
(Open collector)
collector input
19 PPI *䠃
Oscilloscope
7 CA
Pulseinput
Pulse input 8 *CA FFA 9 A-phase pulse output (differential)
(differential)
(Differential) 20 CB *FFA 10
21 *CB FFB 11 B-phase pulse output (differential)
*FFB 12
*1 FFZ 23 Z-phase pulse output (differential)
*FFZ 24
1 COMIN FZ 25 Z-phase pulse output

M5 26 (open collector)
2 CONT1
Sequence input 3 CONT2
4 CONT3 OUT1 15
5 CONT4 OUT2 16
6 CONT5 OUT3 17 Sequence output
COMOUT 14
*1: Connect the shielding wire to the connector shell on CN1 and CN2, and then ground the connector shell.
Wiring 37
2.1.3 Sequence I/O

CN1 of BSDS type. The wiring connectors are not included with the servo amplifier.
Connector kit type: WSK-D26P
26 M5 13 M5
25 FZ 12 *FFB
24 *FFZ 11 FFB
23 FFZ 10 *FFA
22 VREF
21 *CB
9 FFA
8 *CA
2
20 CB 7 CA
19 PPI 6 CONT5
18 TREF 5 CONT4
17 OUT3 4 CONT3
16 OUT2 3 CONT2
15 OUT1 2 CONT1
14 COMOUT 1 COMIN
Terminal
No symbol
Function
19 PPI Pull-up voltage input at open collector input
7 CA Pulse input
8 *CA Max. input frequency 1 MHz (differential) or 200 kHz (open collector)
20 CB Command pulse/direction, forward/reverse pulse, A/B phase pulse (A/B
21 *CB phase pulse is the frequency after multiplication by four.)
9 FFA
Pulse output (Differential output)
10 *FFA The number of output pulses per motor revolution (16 to 262144) or the
11 FFB output pulse division ratio can be designated. The output is issued in
12 *FFB A/B phase pulse.
23 FFZ The FFZ and *FFZ are the terminals for single pulse per revolution
signal.
24 *FFZ
25 FZ Z-phase output (Open collector)
The FZ is the terminal for single pulse per revolution signal. The M5
26 M5 terminal serves as a reference potential.
38 Wiring
Terminal
No Function
symbol
2 CONT1
Sequence input (sink/source supported)
3 CONT2 Supply command signals to the servo amplifier through these terminals.
4 CONT3 12 to 24 VDC/8 mA (per point).
5 CONT4 Photocoupler isolation. The COMIN is the reference potential terminal.
6 CONT5 (Soft filter 0.5 ms, agreement of two scans, except for interrupt input)
The delay of hardware filter detection is 0.1 ms with interrupted input.
1 COMIN
15 OUT1
Sequence output (sink/source supported)
2
16 OUT2
Signal output terminals of servo amplifier. Max. 30 VDC/50 mA.
17 OUT3 Photocoupler isolation. The COMOUT is the reference potential terminal.
14 COMOUT
22 VREF
18 TREF Speed command voltage ±10 V. Resolution: 15 bits/±full scale
Torque command voltage ±10 V. Resolution: 14 bits/±full scale
13 M5 The M5 is the reference potential terminal.
18 M5
The output formats of the FFZ, *FFZ and FZ vary according to the pulse output
setting.
• If the number of pulses per revolution is designed (PA1_08: 16 to 262144), outputs

are synchronized with the FFA and *FFA signals, which apply one pulse of FFA
and *FFA.
FFA
FFB
FFZ
• If the output pulse division ratio designated with PA1_08: 0, PA1_09 and PA1_10,
outputs are not synchronized with the FFA and *FFA signals. The pulse always
has width of 125 μs or over.
FFA
FFB
FFZ
125 µs or over
Wiring 39
2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA)

Pulse input terminal
• Format: Command pulse/direction, forward/reverse pulse, A/B phase pulse
(parameter switch)
• Max. input frequency: 1 MHz (differential input), 200 kHz (open collector input)
(A/B phase pulse: 250 kHz (differential input), 50 kHz (open collector input)
(1) Differential input

The PPI terminal is not used.
5V
Line driver
PPI
62
1.5k
2
CA(CB)
62
*CA(*CB)
Servo amplifier
0V
(2) Open collector input (24 VDC)

The PPI terminal is used.
* Do not connect wiring to the terminal CA (CB).
The wiring length to the host should be 2 m or less.
PPI
24 VDC
1.5k
CA(CB) 62
*CA(*CB) 62
Servo amplifier
(3) Open collector input (12 VDC)

Perform the wiring using the resistor (300Ω, 1/4W) but not using the PPI terminal
as shown below.
* The wiring length to the host should be 2 m or less.
㻖㻓㻓䂿㻏㻔㻒㻗㻺㻦㻤㻋㻦㻥㻌㻙㻕

㻧㻦㻔㻕㻹
㻍㻦㻤㻋㻍㻦㻥㻌㻙㻕
㻖㻓㻓䂿㻏㻔㻒㻗㻺
Servo
䜹䞀䝠䜦 amplifier
䝷䝛
40 Wiring
2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ)

The pulses proportional to the motor revolutions are output as A/B phase pulse.
• The number of output pulses per motor revolution can be specified in the
parameter (PA1_08).
• The output pulse frequency is proportionate to axis revolution speed. Although
the output frequency is not limited, it has to be 500 kHz or lower considering the
electrical limit of the output circuit.
• The output pulse phase (A or B phase advance) to the motor revolution direction
can be specified in the parameter (PA1_11).
• The FFZ and *FFZ signals output one pulse per motor revolution. The output
2 position can be adjusted in the parameter (PA1_12).
• In the case of GYB motor at speed of 100r/min or less after the power turned on
the output of first Z phase will happen within 1 rotation after the motor becomes
over 12-degree as worst.
㻘㻃㻹
㻤㻰㻕㻙㻯㻶㻖㻔㻩㻩㻤㻏㻋㻩㻩㻥㻌㻏㻋㻩㻩㻽㻌
㻍㻩㻩㻤㻏㻋㻍㻩㻩㻥㻌㻏㻋㻍㻩㻩㻽㻌
㻓㻃㻹
Servo amplifier 㻰㻘
2.1.3.3 Z-Phase Output (FZ, M5)

The Z-phase output is an open collector output of the FFZ or *FFZ signal.
The current can flow up to 30 VDC/50 mA.
2SC2712 or
equivalent
FZ
M5
Servo amplifier
2.1.3.4 Analog Input (VREF(TREF),M5)

The analog input is the terminal used when performing the speed/torque control by
analog commands.
• Input voltage: 0 to ±10 VDC
• Variable resistor: 1 to 5 kΩ (1/2 W)
• Input impedance: 20 kΩ
22k
VREF(TREF)
220k
M5
Servo amplifier
Wiring 41
2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)

This is the input terminal for sequence control.
• The terminal allows sink input/source input.
• Use the terminal within the range from 12 VDC to 24 VDC.
• A current of approx. 8 mA (for 24 VDC) is consumed at each point.
• The terminal function can be changed by setting the parameter. For assignable
signals, refer to page 2-20.
㻦㻲㻰㻬㻱
3.0kȐ
㻔㻑㻖㼎
12
㻧㻦to 24 VDC
㻔㻕䡐㻕㻗㻹
㻙㻛㻓
2
1.5kȐ
㻦㻲㻱㻷㼑
Servo amplifier
䜹䞀䝠䜦䝷䝛
2.1.3.6 Sequence Output (OUT1, OUT2, ... COMOUT)

This is the output terminal for sequence control.
• The terminal allows sink output/source output.
• Use the terminal within the range from 12 VDC to 24 VDC.
• A current of approx. 8 mA (for 24 VDC) is consumed at each point.
• The terminal function can be changed by setting the parameter. For assignable
signals, refer to page 2-21.

Servo amplifier
䜹䞀䝠䜦䝷䝛
㻲㻸㻷㼑
㻧㻦㻕㻗㻹V
㻦㻲㻰㻲㻸㻷
2.1.4 RS-485 Communications (CN3)

Use the RS-485 communications by connecting other servo amplifiers, host
controller or PC.
Use a marketed straight cable (RJ45) with all wires connected.
There is no need to connect the terminator.
Max. 31 servo amplifiers can be connected.
RS-485 communications can be applied in two communications: Modbus-RTU
protocol communications and PC Loader protocol communications.
Use PA2_97 (communication protocol selection) to select the protocol.
However, select the Modbus-RTU protocol to perform immediate value operation.
For details, refer to “CHAPTER 13 RS-485 COMMUNICATIONS.”
42 Wiring
2.1.5 Analog Monitor Output (CN4: MON1, MON2, and M5)

This is the analog voltage output terminal from the servo amplifier, Set the details to
be output using the parameter.
• Max. ±10 V/0.5 mA
• Resolution: 14 bits/±full scale
MON1
MON2
Servo amplifier
M5
2
0V
The signal takes two seconds to be activated after the power is turned on.
The output voltage may become unstable immediately afer the power is turned on or
turned off.
Wiring 43
2.2 P-N Junction

Directly connect the DC link circuit of two servo amplifiers to exchange power.
In a system having a powering (driving) shaft and regenerating (back tension) shaft
such as the winder/unwinder unit, the power consumption of the entire system can
be reduced. Do not supply main power to the servo amplifier on the other side of the
P-N junction.
The capacity of the servo amplifier on the PN junction side must be equal to or less
than that of the servo amplifier on the power supply side.
2
The capacity of the servo amplifier The capacity of the servo amplifier
Ӎ
on the power supply side on the PN junction side
Wiring example for frame 1 Wiring example for frame 2 or over

P(+) N( - ) RB1 RB2 P (+) N( - ) RB1 RB2 P(+) N( - ) RB1 RB2 RB3 P (+) N( - ) RB1 RB2 RB3
TB2 TB2 TB2 TB2

TB1 TB1

TB1 TB1
L1 L1 L1 L1
L2
L3
L2
L3
L2
L3
L2
L3

For the details, contact the manufacturer.

44 Wiring
2.3 Servomotor
There are wiring of the following three units: the main body of the servomotor, brake
(servomotor equipped with a brake) and encoder.
Caution
• Keep consistency in the phase order between the servomotor and servo
amplifier.
2 • Do not connect commercial power to the servomotor. Otherwise it may cause
failure.
2.3.1 Brake Connector

Connector kit type: WSK-M02P-E (BSMS type servomotor side ,0.75 kW or less)
1 Br
2 Br
The brake of the servomotor equipped with a brake is a non-exciting brake. To rotate
the servo motor, supply the power of 24 VDC to this connector and release the
brake. There is no polarity in the brake input circuit.
If the brake is left released, although the periphery of the brake becomes hot it is not
a fault.
The brake terminal of BSMS type 1.0 to 3.0 kW, is located inside the motor power
connector.
Connected to the encoder cable.
Connected to the
power supply
(+24 V).
Connected to the motor power
cable.
Wiring 45
2.4 Encoder
2.4.1 Encoder Cable
Use shielded cables for wiring of the servomotor encoder.
The optional cable for the servomotor is a cable having bend resistance, which is
also UL standard compliant.
Use a regular twisted pair batch shield cable if the servomotor and cable do not
work.
2
 Cross linked polyethylene vinyl sheath cable for robot travel (Daiden Co., Ltd.)
RMCV-SB-A (UL2464) AWG#25/2P + AWG#23/2C (Twisted type) or AWG#23/3P
(For 10 m or smaller wiring length)
RMCV-SB-A (UL2464) AWG#25/2P + AWG#17/2C or its equivalent
(For wiring lengths < 10 m and ≤ 50 m)
The relationship between AWG and mm is shown below.
Gauge SI unit Inch unit

Cross section Cross section
A.W.G In [mm2] Diameter [mm]
[mm2]
Diameter [mil]
[CM]
16 1.25 1.291 1.309 50.82 2583

17 - 1.150 1.037 45.26 2048
18 - 1.024 0.8226 40.30 1624
19 - 0.9116 0.6529 35.89 1288
20 - 0.8118 0.5174 31.96 1021
21 - 0.7299 0.4105 28.46 810.0
22 - 0.6438 0.3256 25.35 642.6
23 - 0.5733 0.2518 22.57 509.4
24 - 0.5106 0.2024 20.10 404.0
25 - 0.4547 0.1623 17.90 320.4
46 Wiring
2.4.2 Encoder Cable

To fabricate the encoder cable by yourself, take care of the following.
• Do not install a relaying terminal block between the servo amplifier and motor.
• Use a shielded cable.
• Connect the shielded cable with the designated connector pin, connector shell or
cable clamp on both sides.
The servo amplifier communicates with the encoder built in the servomotor
through high speed serial communications.
The shield treatment is important for the assurance of reliability of serial
communications.
2 The maximum encoder wiring length is 50 m.
• When twisting the cable, combine the following pair of signals.
P5 and M5, SIG+ and SIG-, BAT+ and BAT- (See the sample connection diagrams
on pages 2-6 and 2-8.)
• Please notice that wrong wiring may cause the encoder or battery trouble.
Perform shield treatment at the encoder according to the procedure specified below
Despite motor capacity, wiring treatment at the servo amplifier is the same.
Encoder cable preparation method

Connect the end of the shielding wire on
Servo amplifier side Motor side the motor side to pin no.3.
Relay the shielding wire with a lead wire

of AWG#22 to 26 and then crimp the
wire to the connector pin.
[1] Peel off the end of the shield about 15 mm.
Fold back the shield.
Wind copper foil tape two or three turns around the shield.

[2] Solder the wiring to the connector.
The shrink tube wrapping each element cable
assures safety.

[3] Fix the connector to the shell cover.

[4] Bend the shield to fix.

[5] While aligning the catches on both sides, fit the
shell cover.

[6] Align the position of the catch to the mold cover to
fix.
Catch
Wiring 47
 Wiring length within 10 m
Servo amplifier Servomotor
P5 1 7(H)[B] P5
M5 2 8(G)[I] 㻃M5
BAT+ 3 1(T) 㻃㻃BAT+
BAT- 4 2(S) 㻃㻃BAT-
SIG+ 5 5(C)[㻧] SIG+
SIG-䚭 6 4(D)[㻫] SIG-
Shell 3 [F] 㻃㻃FG
2
Connector no. on motor side
Lead wire Connector no.
Signal BSMS
dia. on amplifier side BSMS 1 to 3kW
0.75 kW or less
P5 AWG23 1 7 B
M5 AWG23 2 8 I
BAT+ AWG25 3 1 N.C.
BAT- AWG25 4 2 N.C.
SIG+ AWG25 5 5 H
SIG- AWG25 6 4 D
Shielding
FG Shell 3 FG
wire
 Wiring length between 10 m and 50 m
Servo amplifier Servomotor
P5 1 7(H)[B] P5
M5 2 8(G)[I] 㻃M5
BAT+ 3 1(T) 㻃㻃BAT+
BAT- 4 2(S) 㻃㻃 BAT-
SIG+ 5 㻘㻋㻦㻌㻾㻧㼀㻃㻶㻬㻪㻎
SIG-䚭 6 4(D)[㻫] SIG-
Shell 3 [F]㻃㻃 FG
Connector no. on motor side

Lead wire Connector no.
Signal BSMS
dia. on amplifier side BSMS 1 to 3kW
0.75 kW or less
P5 AWG17 1 7 B
M5 AWG17 2 8 I
BAT+ AWG25 3 1 N.C.
BAT- AWG25 4 2 N.C.
SIG+ AWG25 5 5 H
SIG- AWG25 6 4 D
Shielding
FG Shell 3 FG
wire
48 Wiring
2.5 Description of I/O Signals

List of input signals
The signal assigned to the sequence input terminal can be specified with a
parameter.
Default
No. Name Setting range Change
value
2 PA03_01 CONT1 signal assignment

PA03_02 CONT2 signal assignment
1
11
PA03_03 CONT3 signal assignment 1 to 78 0 Power
PA03_04 CONT4 signal assignment 0
PA03_05 CONT5 signal assignment 0
Sequence input signal
No. Function No. Function

1 Servo-on [S-ON] 34 External regenerative resistor overheat
2 Forward command [FWD] 35 Teaching
3 Reverse command [REV] 36 Control mode selection
4 Start positioning [START] 37 Position control
5 Homing [ORG] 38 Torque control
6 Home position LS [LS] 43 Override enable
7 +OT 44 Override 1
8 -OT 45 Override 2
10 Forced stop [EMG] 46 Override 4
11 Alarm reset [RST] 47 Override 8
14 ACC0 48 Interrupt input enable
16 Position preset 49 Interrupt input
17 Gain switch 50 Deviation clear
19 Torque limit 0 51 Multi-step speed selection 1 [X1]
20 Torque limit 1 52 Multi-step speed selection 2 [X2]
22 Immediate value continuation 53 Multi-step speed selection 3 [X3]
23 Immediate value change 54 Free-run
24 Electronic gear numerator selection 0 55 Edit permission
25 Electronic gear numerator selection 1 57 Anti resonance frequency selection 0
26 Command pulse inhibit 58 Anti resonance frequency selection 1
27 Command pulse ratio 1 60 AD0
28 Command pulse ratio 2 61 AD1
29 Proportional control 62 AD2
31 Pause 63 AD3
32 Positioning cancel 77 Positioning data selection
78 Broadcast cancel
Wiring 49
List of output signals

Specify the signals assigned to sequence output terminals, using parameters.
No. Name Setting range Default value Change
PA03_51 OUT1 signal assignment 1
PA03_52 OUT2 signal assignment 1 to 95 2 Power

PA03_53 OUT3 signal assignment 76
Sequence output signal

2
No. Function No. Function
1 Ready for servo-on [RDY] 39 -OT detection
2 In-position [INP] 40 Home position LS detection
11 Speed limit detection 41 Forced stop detection
13 Over write completion 45 Battery warning
14 Brake timing 46 Life warning
16 Alarm detection (Normally open contact) 60 MD0
17 Point detection, area 1 61 MD1
18 Point detection, area 2 62 MD2
19 Limiter detection 63 MD3
20 OT detection 64 MD4
21 Cycle end detection 65 MD5
22 Homing completion 66 MD6
23 Zero deviation 67 MD7
24 Zero speed 75 Position preset completion
25 Speed coincidence 76 Alarm detection (Normally closed contact)
26 Torque limit detection 79 Immediate value continuation permission
27 Overload warning 80 Immediate value continuation completion
28 Servo control ready [S-RDY] 81 Immediate value change completion
29 Edit permission response 82 Command positioning completion
30 Data error 83 Range1 of position
31 Address error 84 Range2 of position
32 Alarm code 0 85 Interrupt positioning detection
33 Alarm code 1 91 CONTa through
34 Alarm code 2 92 CONTb through
35 Alarm code 3 93 CONTc through
36 Alarm code 4 94 CONTd through
38 +OT detection 95 CONTe through
50 Wiring
Input signal
Servo-on [S-ON]: Sequence input signal (Reference value 1)
The signal makes the servomotor ready to rotate.
 Function
The servomotor is ready to rotate while the servo-on [S-ON] signal remains
turned on.
When the servo-on signal is turned off, the gate for IGBT is turned off and the
servomotor does not rotate. At this time, the servomotor in free-run and all
rotation commands are ignored.
2 If the signal is turned off during rotation, controlled stop is caused according to
the setting of PA2_61 (action sequence at servo-on OFF). The stopping profile
follows the setting of PA2_61 (action sequence at servo-on OFF), too.
If there is no alarm, activation of servo-on [S-ON] and forced stop [EMG]
arranges the state ready to rotate.
 Parameter setting
To assign the servo-on [S-ON] signal to a sequence input terminal, specify the
corresponding value (“1”) to the input terminal function setting parameter.
If this signal is not assigned to the CONT input terminals, it is treated as “always
ON”.
Forward command [FWD]: Sequence input signal (Reference value 2)
Reverse command [REV]: Sequence input signal (Reference value 3)

The servomotor keeps running during turning the signals on.
 Function
The servomotor keeps rotating in the positive (negative-) direction while the
forward command [FWD] (reverse command [REV]) signal remains turned
on. Acceleration begins at the rising edge, while the trailing edge triggers
deceleration.
Control mode Effective condition for FWD/REV signal FWD/REV signal simultaneous
Speed control ON level Controlled stop
The last operation before
Position control On edge
simultaneous ON is retained
Torque control ON level Controlled stop
(1) Speed control

The motor rotates at a speed selected through combination of multi-step speed
settings [X1] (= No. 51), [X2] (= No. 52) and [X3] (= No. 53) (see the table on the
next page).
If both the forward command [FWD] and reverse command [REV] are turned on,
the motor is controlled to stop.
Wiring 51
X3 X2 X1 Rotation speed
OFF OFF OFF Speed command (VREF terminal) voltage

OFF OFF ON PA1_41: Manual feed speed 1
OFF ON OFF PA1_42: Manual feed speed 2
ON ON ON PA1_43: Manual feed speed 3
ON OFF OFF PA1_44: Manual feed speed 4
ON OFF ON PA1_45: Manual feed speed 5
ON ON OFF PA1_46: Manual feed speed 6
2
ON ON ON PA1_47: Manual feed speed 7
(2) Position control

In the position control mode, only pulse inputs are accepted.
To perform manual operation under position control, specify “6” (extension
mode) or “7” (positioning operation) to PA1_01 (control mode selection) and,
while leaving the position control (37) signal turned on (not necessary when “7”
(positioning operation) is set to PA1_01), turn on the forward command [FWD]
(or reverse command [REV]) signal.
The speed setting is the same as that of speed control. The rising edge of the
forward command [FWD] (or reverse command [REV]) signal starts to rotate at
the ON level. Even if both signals are turned on simultaneously, no stoppage is
caused.
To issue a reverse command after turning off a forward command [FWD], turn on
the reverse command [REV] after controlled stop.
(3) Torque control
A torque is output at the servomotor shaft.
The torque is output according to the torque command [TREF terminal] voltage.
To assign the forward command [FWD] signal to a sequence input terminal,
specify the corresponding value (“2”; “3” for reverse command) to the input
terminal function setting parameter.
52 Wiring
Start positioning [START]: Sequence input signal (Reference value 4)

Positioning motion is executed according to positioning data or immediate value data
sent via RS-485 communications.
This function is enabled only if parameter PA1_01 is “7” (positioning operation).
 Function
The positioning motion starts at the activating edge of the start positioning signal.
If PA2_40 (internal positioning data selection) is “1” (enable), the internal
positioning data is enabled. Positioning is made according to positioning
addresses AD0 through AD3.
2 If PA2_40 (internal positioning data selection) is “0” (disable), positioning is made
according to the position data and speed data sent via RS-485 communications.

Speed

Timer
[RDY] ON (positioning data)

Start
positioning OFF
[START]
Address 10 15

Zero speed ON OFF

Zero deviation ON OFF

In-position
(level) ON OFF

In-position
(single shot) OFF ON

In-position minimum OFF time/Single shot ON time
(PA1_34)
Check for the active state of the in-position signal (level) to turn the start
positioning signal on. The motor starts to rotate. After rotation begins, the in-
position signal is turned off.
To assign the start positioning signal to a sequence input terminal, specify the
Wiring 53
Homing [ORG]: Sequence input signal (Reference value 5)
Homing position LS [LS]: Sequence input signal (Reference value 6)

A homing motion is executed and the home position is determined.
These functions are enabled only if the extension mode (parameter PA1_01= 6) and
the positioning operation (parameter PA1_01=7) are selected.
 Function
The rising edge of the homing signal starts a homing motion. The homing
motion follows the settings of PA2_06 through PA2_18. If parameters are factory
shipment settings, the following motion is executed. 2

Speed

ON
[RDY]

Zero speed ON OFF

Homing [ORG] OFF ON

Home position OFF ON
LS [LS]

Motor Z-phase
detection
In-position ON OFF ON
[INP]

Homing ON/OFF OFF ON
completion
(1) After checking that the in-position signal is turned on, turn on the homing
command.
(2) Once the in-position signal is turned off, you can turn off the homing command.
The motor rotates in the direction of PA2_10 (homing direction after reference
signal detection) at a speed of PA2_06 (homing speed).
(3) When the home position LS signal is turned on, the speed changes to creep
speed for homing (PA2_07).
(4) The motor moves the home position shift unit amount (PA2_14) from the first
Z-phase after the rising (or trailing) edge of the home position LS, and then it is
stopped.
(5) The in-position signal is turned on with the stopping position being home position
after homing completion PA2_16. In addition, the homing completion signal is
turned on.
54 Wiring
To perform homing, use up positive over-travel [+OT] and negative over-travel [-OT]
signals to assure safety.
A B

-OT LS Homing direction +OT
• Detection of over-travel signal

If homing is started from position A in the figure above, the home position LS is
2 detected and stoppage is caused.
If homing is started from position B in the figure above, the +OT signal is detected.
In this case, the following motions follow.
(6) Upon detection of +OT, controlled stop is caused according to deceleration time
at OT during homing PA2_18.
(7) A reverse travel begins at the homing speed.
(8) Upon detection of the home position LS, controlled stop is caused. Then the
procedure (1) to (5) described above is executed.
• Starting direction for homing (PA2_08)

If homing is executed from B in the figure above, the distance to +OT must be
traveled in a round trip and therefore much time is taken.
If homing is set to negative starting direction, the home position LS will be
detected first.
• Reverse traveling unit amount for homing (PA2_09)

If homing is executed from B in the figure above, the distance to +OT must be
traveled in a round trip and therefore much time is taken.
If the reverse traveling unit amount for homing is specified, the next action is
performed at the start of homing.
(9) A travel occurs first at the homing speed by the reverse traveling unit amount for
homing.
Thereafter the motion (1) to (5) described above is executed.
• Reference signal for shift operation (PA2_11)

In regular cases, a travel occurs by the home position shift unit amount in
reference to the encoder Z-phase signal. Stoppage is caused at an accuracy of a
single encoder pulse. If the Z-phase is not used positively due to a reduction ratio
of 2 or similar, the home position LS can be made the standard.
If the moving range is extremely narrow to install a home position LS signal, the
+OT and -OT signals can be referred as the standard.
If a quick response sensor is used instead of the Z-phase of the encoder, the
interrupt input signal can be applied.
Wiring 55
• Home position LS signal edge selection (PA2_13)

After the trailing edge of the LS is detected, the Z-phase signal after the home
position LS is detected.
• Deceleration operation for creep speed (PA2_15)

Controlled stop is caused during homing upon detection of the home position LS
(or reference signal for shift operation), followed by reverse rotation until the point
before the home position LS is reached, and then homing is performed again at
the creep speed.
The home position LS creep speed becomes the same despite the homing speed
setting. 2
• Interruption of homing motion
Forced stop (sequence input signal) can interrupt the homing motion.
Positioning cancel (sequence input signal) can interrupt the homing motion.
• Interruption of homing motion

While a travel in the opposite direction automatically occurs upon detection of
positive over-travel [+OT] or negative over-travel [-OT], stoppage is caused in the
following cases. In every case, the homing completion signal will not be turned on.
• Reverse rotation after a +OT signal, followed by a -OT signal without detecting a
home position LS (reference signal)
• Detection of an over-travel signal in the opposite direction to the traveling
direction
• Detection of an over-travel signal during travel of the home position shift
traveling amount
Over-travel in positive direction [+OT]: Sequence input signal (Reference value 7)
Over-travel in negative direction [-OT]: Sequence input signal (Reference value 8)

A signal from a limit switch or similar can forcibly stop the machine travel. (nomally
closed contact)
 Function
These signals are input signals of the limit switch which prevents the over travel
(OT) at the end in the machine travel direction.
Each signal is always enabled except under torque control.
If the over-travel signal is turned on (switch:open) during operation, controlled
stop is caused within the limit specified in PA2_60 (third torque limit).
Merely a pulse input in the direction opposite to the detection direction or manual
feed (forward/reverse command) can be executed (normally closed contact).
If an OT signal is detected during positioning operation, the servomotor is forcibly
stopped and therefore difference may be caused between the command position
and feedback position.
Take care of the reference value and sensor position so that the OT signal will
not be detected during regular operation.
56 Wiring
To assign the +OT signal to a sequence input terminal, specify the corresponding
value (“7”) to the input terminal function setting parameter. For the -OT signal,
specify (“8”).
 Relevant description
(1) Direction of detection
The +OT signal is detected during a travel of the servomotor in the positive
direction. The positive direction indicates the direction of forward rotation
if PA1_4 (rotation direction selection) is set at “0” (positive direction). The
2 servomotor is stopped, too, if a +OT signal is detected during rotation in the
negative direction, but it will not rotate in either direction.
(2) Output signal: +OT detection (38), -OT detection (39), OT detection (20)
The +OT detection and -OT detection signals indicate that the servo amplifier
detects the limit of travel in the mechanical system. A sequence output signal to
the host controller can be notified the fact of detecting the +OT or -OT signal.
The OT detection signal is turned on upon detection of either +OT (7) or -OT (8)
or software OT specified in PA2_26/27 (software OT detection position).
If the host controller is equipped with an OT input, connect to the host controller
in general cases.
To specify this function, specify “38” (+OT detection), “39” (-OT detection) or “20”
(OT detection) in the output terminal function setting parameter.
(3) Software OT
Specify “1” (enable) to PA2_25 (software OT selection) to operate in the position
range between (PA2_26: + software OT detection position) and (PA2_27: -
software OT detection position).
If this range is exceeded, forced stop will be caused with the OT detection
sequence output.
Supply a pulse input in the direction opposite to the detected direction or perform
manual feed (forward / reverse command) to reset and travel in both directions.
The +OT (-OT) sequence input is for mechanical position detection, while
software OT is for position detection of the servo amplifier.
Traveling range
Feedback position
Negative software OT Positive software OT

detection position detection position
(PA2_27) (PA2_26)
Wiring 57
Forced stop [EMG]: Sequence input signal (Reference value 10)

This signal is used to forcibly stop the servomotor.
 Function
The servomotor is forcibly stopped while the forced stop [EMG] signal remains
turned on (switch:open).
This signal is enabled in all control modes and it is given the highest priority.
Because the safety and detection speed are significant, the forced stop signal is
generally connected to the servo amplifier directly.
A self-locked pushbutton switch (command switch) provided on the operation
panel or similar is connected in regular cases. 2
If forced stop is turned off during operation, controlled stop is caused within the
limit specified in PA2_60 (third torque limit).
To assign forced stop to a sequence input terminal, specify the corresponding
value (“10”) to the input terminal function setting parameter.
(1) Ready for servo-on [RDY]
If the forced stop signal is assigned to a sequence input terminal, the ready for
servo-on [RDY] signal is turned on with the servo-on [S-ON] signal and forced
stop signal turned off (switch:closed), so that the output shaft of the servomotor
becomes ready to rotate. To assign the ready for servo-on signal to a sequence
output terminal, specify the corresponding value (“1”) to the output terminal
function setting parameter.
(2) Forced stop detection
When the forced stop signal is turned on (switch:open), the forced stop detection
signal is turned on so that external equipment recognizes.
To assign forced stop detection to a sequence output terminal, specify the
corresponding value (“41”) to the output terminal function setting parameter.
(3) State of forced stop
If the forced stop signal is turned on (switch:open) under position or speed
control, the servomotor is stopped in the zero speed state with the zero rotation
speed command. At this time, all rotation commands are ignored.
The present position is not retained in the zero speed state. Because the present
position is controlled, there is no need to perform a homing motion again even if
the forced stop signal is turned on (switch:open). Turn the forced stop signal off
(switch:closed) to arrange the state ready to operate.
If the forced stop signal is turned on (switch:open) under torque control, the
torque command becomes zero and the servomotor free-run.
After removing the forced stop signal, there is no need to issue an alarm reset
signal.
58 Wiring
Alarm reset [RST]: Sequence input signal (Reference value 11)

The alarm reset signal resets alarm detection of the servo amplifier.
 Function
The sequence input signal resets alarm detection of the servo amplifier.
The rising edge of the alarm reset [RST] signal resets alarm detection.
By starting the test operation mode at the keypad, operating the PC Loader or
turning the power on again, the alarm can be reset.
To assign the alarm reset [RST] signal to a sequence input terminal, specify the
2 corresponding value (“11”) to the input terminal function setting parameter.
There are the following methods for resetting alarm detection.
• Rising edge of alarm reset [RST] of sequence input signal
• Press and hold the [SET/SHIFT] key for at least one second in the test
operation mode [Fn05].
• Press and hold the [∧] and [∨] keys simultaneously for at least one second
upon alarm detection [En01].
• Alarm reset from PC Loader
• Shutdown and power-on again
Alarms canceled through alarm resetting Alarms not canceled through alarm resetting
Indication Name Indication Name
oc1 Overcurrent 1 Et1 Encoder Trouble 1
oS Overspeed ct Circuit Trouble
Hu Overvoltage dE Memory Error
Breaking Transistor
tH Overheat Fb Fuse Blown
Encoder Communication
Ec Error cE Motor Combination Error
oL1 Overload 1 ctE CONT㸝Control signal㸞Error

oL2 Overload 2 rH3 Breaking Transistor Error
Inrush Current Suppression
LuP Main Power Undervoltage rH4 Circuit Trouble
Internal Breaking Resistor
rH1 Overheat dL1 Absolute Data Lost 1*
External Breaking Resistor
rH2 Overheat DL2 Absolute Data Lost 2*
oF Deviation Overflow DL3 Absolute Data Lost 3*

AH Amplifier Overheat AF Multi-turn Data Over Flow*
EH Encoder Overheat iE Initial Error
* The alarms dL1 to 3 and AF can be
canceled by position preset.
Wiring 59
ACC0: Sequence input signal (Reference value 14)

ACC0 switches the acceleration/deceleration time.
 Function
(1) Acceleration/deceleration time switch
The acceleration time and deceleration time of the servomotor follow the setting
of PA1_37 to 40 (acceleration time, deceleration time). The acceleration time and
deceleration time can be set separately.
The setting through ON/OFF of the ACC0 signal despite the direction of rotation,
as shown in the table below can be switched.
2
ACC0 Acceleration time Deceleration time
OFF PA1_37 PA1_38

ON PA1_39 PA1_40
To assign the ACC0 (acceleration/deceleration time selection) signal to a
sequence input terminal, specify the corresponding value (“14”) to the input
terminal function setting parameter.
Position preset: Sequence input signal (Reference value 16)

The command position and feedback position are preset (overwritten).
 Function
The command position and the feedback position are made the reference
value of PA2_19 (preset position) at the rising edge. However, the deviation is
subtracted from the feedback position.
The rising edge is the change point at which the sequence input signal having
been switched off to on.
As zero speed signal [NZERO] can be performed during ON, it is recommended
to conduct position preset while the servomotor is stopped. After position preset,
homing is finished.
The following alarm detection can be reset.
• Absolute data lost (dL1, dL2, dL3), multi-turn data over flow
Position preset
OFF ON

Position preset
completion OFF ON

The Position preset completion is turned off when position preset is turned off.
To assign position preset to a sequence input terminal, specify the corresponding
60 Wiring
Gain swtich: Sequence input signal (Reference value 17)

To switch the gain (response capability) of the servo system.
 Function
When PA1_61 (gain changing factor) is set at “3” (external switch: CONT signal),
the CONT signal assigned to this function switches the gain of the servo system.
The control gain parameters that are enabled with the gain switch are listed in
the table below.
Use the function to change the gain of the servo system between the going path
and returning path in a reciprocal motion or similar.
2
Gain switch Control gain
PA1_55: Position loop gain 1
PA1_56: Speed loop gain 1
OFF
PA1_57: Speed loop integration time constant 1
PA1_58: Feed forward gain 1
PA1_64: Position loop gain 2
PA1_65: Speed loop gain 2
ON
PA1_66: Speed loop integration time constant 2
PA1_67: Feed forward gain 2
To assign gain switch to a sequence input terminal, specify the corresponding
Torque limit 0: Sequence input signal (Reference value 19)
Torque limit 1: Sequence input signal (Reference value 20)

Limitations are set on the output torque of the servomotor.
 Function
Limitation on the output torque of the servomotor by turning on the torque limit
signal can be set.
Specify the torque limit in increments of 1% in the range from “0” to the maximum
output torque.
The maximum output torque is 300% if the rated torque is 100%.
The torque limit function is always enabled in all control modes.
Note that the setting of PA1_37 to 40 (acceleration and deceleration time) may
be ineffective if the output torque is limited during acceleration or deceleration.
The enabled torque limit is as follows.
Wiring 61
• Torque limit under speed control and position control

The following settings can be specified as a limitation set on the torque.
[1] TREF terminal voltage (10 V/300%)
[2] Forward rotation torque limit (PA1_27), reverse rotation torque limit (PA1_28)
[3] Second torque limit (PA2_58)
[4] Third torque limit (PA2_60)
If “0” is specified as torque limit selection (PA2_57), the settings of torque limit 0 and
torque limit 1 are enabled.
Torque limit 1 Torque limit 0 Torque limit 2

OFF OFF Value of [2]
OFF ON [2] or [1], whichever is smaller
ON OFF [3] or [2], whichever is smaller
ON ON [3] or [1], whichever is smaller
If forced stop or servo-on is turned off, or if an over-travel or minor failure alarm

is detected, limitation is set at [4] third torque limit (PA2_62) the setting can be
changed.
Torque limit 1 Torque limit 0 Torque limit

OFF OFF [4] or [2], whichever is smaller
OFF ON [3], [2] or [1], whichever is the smallest
ON OFF [4], [3] or [2], whichever is the smallest
ON ON [4], [3] or [1], whichever is the smallest

• Torque limit under torque control
The limit [2] is always enabled.
• Deviation hold selection at torque limit
Use deviation hold selection at torque limit (PA2_59) under position control to
select the torque limit for retaining the deviation amount.

OFF OFF No torque limit
OFF ON Value of [1]
ON OFF Value of [3]
ON ON PA2_59: 1, value of [3]. PA2_59: 2, value of [1]
62 Wiring
If the torque limit signal is assigned to a sequence input terminal, specify
the corresponding value (“19” or “20”) to the input terminal function setting
parameter.
If the torque limit signal is not assigned to the sequence input terminal, the
settings of PA1_27 (forward rotation torque limit) and PA1_28 (reverse rotation
torque limit) are always enabled.
(1) Torque limit detection signal
This signal is turned on while the output torque of the servomotor is equal to or
2 larger than the torque limit.
The torque limit detection output is enabled in all control modes.
To assign the torque limit detection to a sequence output terminal, specify the
Immediate value continuation: Sequence input signal (Reference value 22)

Positioning motion can be continued according to the next data from the target
position (speed) started in the immediate value mode.
This function is enabled only if “7” (positioning operation) is selected for parameter
PA1 01.
 Function
After immediate value operation starts with the first data, supply desired data in
an immediate value continuation command. Operation continues with the next
data, following execution of the first data.
Rotaion speed
(Initial startup position) (Position to be continued)

Time
Start positioning OFF
Immediate value
continuation OFF
Immediate value
continuation OFF
completion
Immediate value
continuation OFF ON 50 ms
permission (Permitted again after data continuation)
In-position (level) ON OFF
Command position (Initial startup position) (Position to be continued)
Command speed (Initial startup speed) (Speed to be continued)
ABS/INC (ABS/INC) (ABS/INC)

Wiring 63
To assign the immediate value continuation command to a sequence input
terminal, enter the corresponding value (“22”) in the input terminal function
setting parameter. Relevant signal reference values include following.
Allocated signal No.

Immediate value continuation: sequence input
22
signal
Immediate value continuation completion:
80
sequence output signal
Immediate value continuation permission:
79 2
(1) Immediate value continuation permission signal
The signal is turned on when the immediate value continuation command is
ready to be issued to the servo amplifier. The immediate value continuation
permission signal remains enabled for 50 ms after positioning is completed.
(2) Immediate value continuation completion signal
The signal is turned on after the immediate value continuation process is
executed according to an immediate value continuation command, and it is
turned off after the immediate value continuation command is turned off.
(3) Command position / command speed / ABS/INC
Each piece of data can be changed arbitrarily. The immediate value data at the
rising edge of the immediate value continuation command is enabled.
(4) Immediate value change command
When the immediate value continuation command and the immediate value
change command are turned on simultaneously, priority is given to the immediate
value change command.
(5) Positioning cancel / pause
These signals are enabled at an arbitrary timing.
64 Wiring
Immediate value change: Sequence input signal (Reference value 23)

The target position and target speed of immediate value start can be changed at an
arbitrary timing.
PA1_01.
 Function
After immediate value operation is started and the in-position signal is turned off,
the target position and target speed can be changed at an arbitrary timing.
Even if the positioning motion of the first data is not finished, the next data is
2 executed immediately when the change command is accepted.
Rotaion speed
(Initial setting position㸞(Position to be changed) Time
Immediate value
change OFF
Immediate value
change completion OFF
Command
position (Initial startup position) (Position to be changed)
Command speed (Initial startup speed) (Speed to be changed)
ABS/INC (ABS/INC) (ABS/INC)
The command position and command speed change at the rising edge of the
immediate value change command. They can be changed at an arbitrary timing
while the in-position signal remains inactive.
To assign the immediate value change command to a sequence input terminal,
enter the corresponding value (“23”) to the input terminal function setting
parameter. Enter value (“81”) for the immediate value change completion signal.
(1) Change setting completion
The signal is turned on after the changing process is executed according to the
immediate value change signal, and it is turned off after the immediate value
change command is turned off.
Wiring 65
(2) Command position / command speed / ABS/INC

Each piece of data can be changed arbitrarily. The data at the timing of rising
edge of the immediate value continuation command is enabled. However,
the ABS/INC signal retains the state enabled at the rising edge of the start
positioning signal.
(3) Immediate value continuation command
When the immediate value continuation command and the immediate value
change command are turned on simultaneously, priority is given to the immediate
value change command.
(4) Positioning cancel / pause
The signal is enabled at an arbitrary timing. 2
Electronic gear numerator selection 0: Sequence input signal (Reference value 24)
Electronic gear numerator selection 1: Sequence input signal (Reference value 25)
These are used to change the multiplication of the traveling amount of the
mechanical system.
 Function
Switch electronic gear numerator 0 or electronic gear numerator 1 to select one
of four command pulse offsets.
The numerator of the electronic gear can be changed through these functions
assigned to the CONT input signal, as shown in the table below.
Electronic gear numerator Electronic gear numerator

Enabled electronic gear numerator selection
selection 1 selection 0
OFF OFF PA1_06: Numerator 0 of electronic gear

OFF ON PA2_51: Numerator 1 of electronic gear
ON OFF PA2_52: Numerator 2 of electronic gear
ON ON PA2_53: Numerator 3 of electronic gear
To assign numerator 0 of electronic gear or numerator 1 of electronic gear to a
sequence input terminal, specify the corresponding value (“24” or “25”) to the
input terminal function setting parameter.
66 Wiring
Command Pulse inhibit: Sequence input signal (Reference value 26)

The pulse input in the position control mode is enabled or disabled.
 Function
The command pulse is not accepted while the command pulse inhibit signal
remains turned on.
To assign pulse command inhibit to a sequence input terminal, specify the
2
Command pulse ratio 1: Sequence input signal (Reference value 27)
Command pulse ratio 2: Sequence input signal (Reference value 28)

Use the parameters to change the multiplication of the command input pulse under
position control in the extension mode.
These functions are enabled only if “6” (extension mode) or “7” (positioning
operation) is selected for parameter PA1_01.
 Function
To perform pulse operation in the extension mode (mode compatible with
conventional α Series), be sure to assign command pulse ratio 1 or command
pulse ratio 2 to a CONT input signal.
Turn servo-on, position control and command pulse ratio 1 (2) on to enable pulse
operation.
If command pulse ratio 1 is turned on, the ratio set at PA2_54 (command pulse
ratio 1) is enabled. If command pulse ratio 2 is turned on, the ratio set at PA2_55
(command pulse ratio 2) is enabled.
The result of the following equation becomes the encoder-equivalent pulse.

(Number of input pulses) x ((Numerator 0 to 3 of electronic gear ratio)/
(Denominator of electronic gear ratio)) x Command pulse ratio
To assign command pulse ratio 1/2 to a sequence input terminal, specify the
corresponding number (“27” or “28”) to the input terminal function setting
parameter.
Wiring 67
Proportional control: Sequence input signal (Reference value 29)

Proportional band control is adopted as a servo amplifier control method.
 Function
With S-ON signal turned on, the signal will be turned on while the servomotor
shaft is mechanically locked.
If the proportional control is turned on during servomotor rotation, position control
becomes unstable.
Do not turn on while the servomotor rotates.
If the brake is applied under position control with the servo locked, an overload
(oL) alarm is detected. This is because the servo performs PI control, and 2
generates a torque in an attempt to restore the original position even if fine
deviation is produced. Be sure to turn off P motion before applying the brake
from an external unit.
To assign the proportional control to a sequence input terminal, specify the
Pause: Sequence input signal (Reference value 31)

This signal temporarily stops the start positioning, homing motion and interrupt
positioning motion.
 Function
Deceleration starts at the rising edge of the pause signal (31). While the signal
is turned on, the start positioning, homing and interrupt positioning motions are
interrupted and stopped. After the signal is turned off, the remaining motion
continues.
The signal is ineffective to pulse ratio 1, pulse ratio 2, and manual forward and
reverse rotation.
Deceleration follows the designated acceleration/deceleration time, different from
forced stop (10).
The pause is enabled to the current positioning motion.
To assign positioning cancel to a sequence input terminal, enter the
(1) Positioning cancel
If positioning cancel (“32”) is executed while the pause (“31”) signal remains
turned on, the positioning motion is canceled.
68 Wiring
(2) ABS/INC (positioning data)

After the pause (“31”) signal is turned off, the remaining motion continues without
relations to the absolute (ABS) or incremental (INC) mode of positioning data.
This signal is irrelevant to the setting of the INC/ABS system selection parameter
(PA1_02).
(3) Brake timing
The brake is not applied in a pause.
Positioning cancel: Sequence input signal (Reference value 32)

2 This signal is used to cancel the auto start, homing motion, and interrupt positioning
motion on the way.
 Function
To resume homing motion, turn on the positioning cancel signal and then turn on
the homing signal again.
The interrupt positioning motion cancels the interrupt positioning motion after
interrupt input is turned on.
This function is disabled for the pulse operation.
Unlike forced stop, controlled stop will be conducted within the selected
deceleration time.
To assign positioning cancel to a sequence input terminal, specify the
External regenerative resistor overheat: Sequence input signal (Reference

value 34)
The thermistor signal of the external regenerative resistor forcibly stops the
servomotor.
 Function
In a system where the regenerative power is relatively large, install an external
regenerative resistor and connect the resistor thermistor signal to the CONT
signal assigned as an external regenerative resistor overheat signal.
If the external regenerative resistor overheat input signal is turned on
(switch:open), an external regenerative resistor overheat (rH2) alarm is issued.
To assign external regenerative resistor overheat to a sequence input terminal,
specify the corresponding value (“34”) to the input terminal function setting
parameter.
Wiring 69
Teaching: Sequence input signal (Reference value 35)

The current position of the servomotor is written to the position data in the
positioning data.
PA1_01.
 Function
The command current position of the servomotor is written to the position data in
the positioning data at the rising edge of a teaching signal.
The current command position of the servomotor is written in the positioning data
at the rising edge of the teaching signal. The status of the position is absolute 2
(ABS).
The signal can be always executed without relations to the status of the forced
stop and servo-on signals.
You can check the over write completion signal, one of sequence output signals,
to check if overwriting of the current position is completed.
Teaching is executed generally according to the following procedure.
(1) Designate the address of positioning data, to which the current position is to be
written, among AD0 to AD3.
(2) Using the manual forward rotation command, pulse operation or the like, feed the
mechanical system to the target position.
(3) The command current position of the servomotor is written to the position data
in the positioning data at the rising edge of a teaching signal. When the teaching
signal is turned off, the over write completion signal is turned off, too.
To assign the teaching signal to a sequence input terminal, enter the
Teaching OFF
Over write
completion OFF
Control mode selection: Sequence input signal (Reference value 36)

To switch the control mode.
 Function
This function is to be used to switch to the control mode (control state) during
servomotor operation.
Turn the control mode selection signal, which is assigned to a CONT input signal,
on or off to switch the control mode.
Control mode selection is enabled only if PA1_1 (control mode selection) is set at
3, 4 or 5.
70 Wiring
 Control mode
The enabled control mode includes the following.
PA1_1: Control mode Control mode selection
selection OFF ON
3 Position control Speed control

4 Position control Torque control
5 Speed control Torque control
2 For details, refer to "CHAPTER 4 PARAMETER."
To assign control mode selection to a sequence input terminal, specify the
Position control: Sequence input signal (Reference value 37)

To be used to conduct position control (positioning by pulse) in the extension mode.
This function is enabled only if “6” (extension mode) is selected for parameter
PA1_01.
 Function
Turn on to perform position control in the extension mode (mode compatible with
that of conventional α Series).
The position control state continues while the position control signal assigned
to a CONT input signal remains turned on. Positioning, interrupt positioning and
other functions can be executed with a pulse input.
Wiring 71
To assign position control to a sequence input terminal, specify the
corresponding value (“37”) to the input terminal function setting parameter. For
command pulse ratio 1, specify (“27”), while specify (“28”) for command pulse
ratio 2.
[Example] To conduct operation with a command pulse input
Operation with a command pulse input is enabled while command
pulse ratio 1 or command pulse ratio 2 remains turned on after the
position control signal is turned on.
2
㻶㻦㻳㻸㻖㻶㻦㻳㻸㻖㻲㻱㻯㻃㻃㻓㻃㻔㻃㻕㻃㻖㻃㻗㻃㻘㻃㻙㻃㻚㻲㻱㻯㻃㻃㻃㻃㻃㻲㻱㻯㻃㻃㻓㻃㻔㻃㻕㻃㻖㻃㻗㻃㻘㻃㻙㻃㻚㻲㻱㻯㻃㻃㻃㻃㻃㻃㻃㻃㻃㻃㻃㻦㻫㻔
㻤㻳㻶㻖㻓
㻕㻲㻱㻯㻕㻲㻱㻯㻃㻨㻰㻪㻃㻎㻲㻷㻃㻐㻲㻷
䠥䠪
㻵㻸㻱㻵㻸㻱㻨㻵㻵㻃㻃㻛㻃㻜㻃㻔㻓㻔㻔㻔㻕㻔㻖㻔㻗㻔㻘㻨㻵㻵㻃㻃㻨㻵㻵㻃㻃㻛㻃㻜㻃㻔㻓㻔㻔㻔㻕㻔㻖㻔㻗㻔㻘
Pulse
㻨㻵㻵㻨㻵㻵㻨㻵㻵㻃㻃㻃㻃㻃㻃㻃㻃㻃㻃㻃㻦㻫㻕
㻷㻨㻵㻰㻷㻨㻵㻰
㻶㻯㻹㻵㻸㻱㻶㻯㻹㻵㻸㻱
㻳㻺㻵㻤㻯㻰㻤㻯㻰
㻶㻷㻲㻳㻥㻤㻷㻶㻷㻲㻳㻥㻤㻷㻦㻫
㻤㻯㻰㻱㼒㻑㻃㻃
㻦㻳㻸㻦㻳㻸
㻱㼒㻑㻱㼒㻑
㻳㻫
㻕㻓
㻳㻯
㻯㻲㻤㻧㻨㻵㻯㻲㻤㻧㻨㻵㻧㻤
㻔
㻥㻒㻤
㻳㻨㻔㻫㻳㻕
Position control (37)
Command pulse ratio 1 (27)
(1) PA1_06: numerator 0 of electronic gear /PA1_07: denominator of electronic gear
In the factory shipment state, each pulse of a pulse input turns the servomotor by
16 encoder pulses.
With an incremental encoder, each revolution of the motor shaft corresponds to
1048576 pulses (20 bits).
Use the electronic gear to change the rotation amount of the servomotor
corresponding to each pulse of the pulse input.
(2) PA2_54: command pulse ratio 1/PA2_55: command pulse ratio 2
Numerator 0 of electronic gear and denominator of electronic gear convert the
traveling amount of the mechanical system per each pulse of the pulse input into
a unit amount.
Or the multiplication of the traveling amount of the mechanical system can be
changed with command pulse ratio 1 or command pulse ratio 2.
72 Wiring
The conditions for enabling position control with the command pulse input are shown
below
Servo-on [S-ON] = ON
Forced stop [EMG] = ON
(Control output ready for servo-on [RDY] = ON)
Position control (37) = ON
2 The command pulse is enabled while command pulse ratio 1

(27) or command pulse ratio 2 (28) remains turned on.
 Function block diagram
Command pulse ratio 1

㸝PA2_54㸞

㸝PA2_55㸞
Command pulse ratio 1(27)

Command pulse ratio 2(28)
Numerator 0 of electronic gear/ Denominator of electronic gear

(PA1_06) (PA1_07)

(PA2_51) (PA1_07)

(PA2_52) (PA1_07)

(PA2_53) (PA1_07)
Electronic gear numerator selection 0㸝24㸞

Electronic gear numerator selection 1㸝25㸞
Wiring 73
Torque control: Sequence input signal (Reference value 38)

Use to conduct torque control in the extension mode.
This function is enabled only if “6” (extension mode) is selected for parameter
PA1_01.
 Function
Turn on to conduct torque control in the extension mode (mode compatible with
that of conventional α Series).
The servo amplifier is in the torque control mode while the torque control signal
assigned to a CONT input signal remains turned on.
The torque of the output shaft of the servomotor can be controlled. 2
The torque is actually output while the forward command [FWD] or reverse
command [REV] signal remains turned on.
The torque command value depends on the input voltage applied to the TREF
terminal. (Refer to the table below.)
The direction of rotation varies between the forward command [FWD] and
reverse command [REV] signals.
Voltage applied to TREF terminal Output torque (rated torque 100%)
±3 V ±100%
* PA3_33: If the torque command scale value is the default value.
To assign torque control to a sequence input terminal, specify the corresponding
(1) Maximum rotation speed
If there is no load connected to the servomotor, the rotation speed is subject
to a limitation on PA1_26 (maximum rotation speed (for torque control)) with a
variation of about ±100 r/min (due to lack of speed control).
The speed limit can be selected with the setting of PA2_56 (speed limit selection
at torque control).
• VV type: input voltage of speed command [VREF] terminal, multi-step speed
setting
(2) Torque setting filter
A filter can be set to the input voltage applied to the torque command [TREF]
terminal with the setting of PA1_60 (torque setting filter).
(3) Torque command scale/offset
The scale and offset of the input voltage applied to the torque command [TREF]
terminal can be adjusted, using PA3_33 (torque command scale) and PA3_34
(torque command offset).
74 Wiring
(4) Output torque

The output torque of the servomotor has individual differences (variation) of
about 0 to +5% under torque control. Continuous operation can be made if the
output torque is within the rated torque.
(5) Torque limit
For details, refer to “Torque limit 0,1.”
Override enable: Sequence input signal (Reference value 43)
2
Override 1: Sequence input signal (Reference value 44)

The rotation speed of the servomotor can be changed during operation.
 Function
The rotation speed can be changed with the multiplication designated with
override 1/2/4/8 while the override enable signal remains turned on. The speed
can be increased up to 150% of the current rotation speed (within the maximum
rotation speed).
The weight of the multiplication corresponding to override 1/2/4/8 can be
changed with the parameter.
This parameter is enabled for all rotation commands except for torque control
and command pulse input (command pulse ratio 1/2). The function and
corresponding number are shown on the next page.
To assign override enable to a sequence input terminal, specify the
Similarly, specify the corresponding value (“44” to “47”) for override 1/2/4/8.
Wiring 75
(1) Override multiplication
The multiplication applicable while the override enable signal remains turned
on is shown in the table on the right. If override enable is turned off, the original
speed (100% traveling speed) becomes effective.
Override ratio
Traveling
Override Override Override Override speed
8 4 2 1 %
OFF OFF OFF OFF 0
OFF OFF OFF ON 10
OFF
OFF
OFF
OFF
ON
ON
OFF
ON
20
30
2
OFF ON OFF OFF 40
OFF ON OFF ON 50
OFF ON ON OFF 60
OFF ON ON ON 70
ON OFF OFF OFF 80
ON OFF OFF ON 90
ON OFF ON OFF 100
ON OFF ON ON 110
ON ON OFF OFF 120
ON ON OFF ON 130
ON ON ON OFF 140
ON ON ON ON 150
* If the weight of the override is the default value
(2) Weight of override

The weight can be changed, using PA2_36 to 39 (override 1/2/4/8).
Default
value
PA2_36 Override 1 10
0 to 150% Always
If all the override 1/2/4/8 settings are turned on, the weight is 150 (10 + 20 + 40 +
80). If the sum exceeds 150, the value immediately before is retained.
(3) Maximum rotation speed

Use the setting of PA1_25 (max. rotation speed (for position and speed control))
to specify the maximum rotation speed of the output shaft. However, the setting
is disabled for command pulse inputs.
Interrupt input enable: Sequence input signal (Reference value 48)

76 Wiring
Interrupt input: Sequence input signal (Reference value 49)

Use to realize the interrupt positioning function.
These functions are enabled only if “6” (extension mode) or “7” (positioning
operation) is selected for parameter PA1_01.
These functions are enabled with the forward command [FWD] / reverse command
[REV], positioning data operation, and immediate value operation.
 Function
If the interrupt input enable signal assigned to a CONT input signal is turned on,
2 stoppage is caused after a travel of a certain amount since the interrupt input
signal is turned on.
Specify the traveling amount after the interrupt input in PA2_20 (interrupt
traveling unit amount).
The rotation speed after an interrupt input keeps the speed at the rising edge
effective.
The override is enabled even after the rising edge.
To change the rotation speed in the interrupt positioning mode, use the override.
To assign interrupt input enable to a sequence input terminal, specify the
corresponding value (“48”) to the input terminal function setting parameter. For
the interrupt input, specify (“49”).
(1) Operation procedure
The operation is started with the FWD command or REV command. After the
interrupt input enable is turned to ON, the interrupt positioning is executed to
stop when the interrupt signal is turned to ON.
(Example: Manual operation)
Speed
PA2_20
(interrupt traveling
unit amount)
Time
Forward command
OFF ON OFF ON
(FWD)
Interrupt input enable ON

OFF
Disabled
Interrupt input
OFF ON OFF ON OFF
In-position (level) ON OFF ON OFF

OFF
Interrupt position detection ON
Wiring 77
(Example: Automatic operation)
Speed PA2_20
(interrupt traveling
unit amount)
Time
Start positioning
OFF ON OFF ON
AD㸨㹳AD0 2
Interrupt input enable
OFF ON
Disabled
Interrupt input
OFF ON OFF ON OFF
ON OFF ON OFF
In-position (level)
OFF
Interrupt position detection ON
(2) Positioning accuracy

The traveling amount for interrupt positioning is the value corresponding to the
feedback position.
The interrupt input signal is subject to the delay in detection of the hardware filter
(0.05 ms)
The positioning accuracy at a mechanical system traveling speed of 1000 mm/s
(60 m/min) is: 1000 x 0.00005 = 0.05 mm.
Generally, the sensor used for interrupt input has some delays from electrical
factors, which are the deviation in detection and the delay in output. The
interrupt positioning accuracy is determined after synthesizing these factors and
mechanical accuracy (such as distortion, backlash, and expansion).
(3) Interrupt positioning detection

The interrupt positioning detection is an output signal, which is output during
interrupt positioning motion by being assigned to the OUT output signals.
To assign interrupt positioning detection to a sequence input terminal, specify the
Deviation clear: Sequence input signal (Reference value 50)

The difference (deviation) between the command position and feedback position is
zeroed.
78 Wiring
 Function
The difference (deviation) between the command position and the feedback
position is zeroed while the deviation clear signal remains turned on.
The command position changes to the feedback position.
Use PA3_36 (deviation clear input form) to select either the edge or level signal.
If the edge is selected, deviation is reset at the rising edge.
The activation time must be 2 ms or over.
To assign deviation clear to a sequence input terminal, specify the corresponding
2
All rotation commands are ignored while the deviation clear signal is turned on.
If the deviation clear signal is turned on during servomotor rotation, the manual
forward rotation [FWD] signal and so on are ignored. The feedback position does
not change even if deviation clear is executed.
You can zero the accumulated deviation due to the mechanical stop or similar,
thereby avoiding the travel by the deviation amount that may appear when the
load is released.
After deviation clear is executed, the zero deviation sequence output signal is
turned on.
Multi-step speed selection [X1]: Sequence input signal (Reference value 51)
The manual feed speed is specified for the position or speed control mode.
These values are used to select the speed limit in the torque control mode.
 Function
The rotation speed while the forward command [FWD] (reverse command [REV])
signal is turned on is selected.
(1) Under speed and position control
The motor turns at the speed selected with multi-step speed [X1], [X2] and [X3].
The setting speed is shown in the table below.
Parameter
X3 X2 X1 Rotation speed for enabling
No.
OFF OFF OFF - Speed command voltage (VREF)

OFF OFF ON PA1_41 Manual feed speed 1
OFF ON OFF PA1_42 Manual feed speed 2
OFF ON ON PA1_43 Manual feed speed 3
Wiring 79
ON OFF OFF PA1_44 Manual feed speed 4

ON OFF ON PA1_45 Manual feed speed 5
ON ON OFF PA1_46 Manual feed speed 6
ON ON ON PA1_47 Manual feed speed 7
(2) Under torque control

The rotation speed of the servomotor is limited with the speed selected with
multi-step speed [X1], [X2] and [X3].
The speed limit under torque control is shown in the table below.
2
X3 X2 X1 Parameter No. Speed limit for enabling
OFF OFF OFF - Speed command voltage (VREF)

OFF OFF ON PA1_41 Speed limit 1
OFF ON OFF PA1_42 Speed limit 2
OFF ON ON PA1_43 Speed limit 3
ON OFF OFF PA1_44 Speed limit 4
ON OFF ON PA1_45 Speed limit 5
ON ON OFF PA1_46 Speed limit 6
ON ON ON PA1_47 Speed limit 7
To assign multi-step speed selection to a sequence input terminal, specify the
corresponding value (“51,” “52” or “53”) to the input terminal function setting
parameter.
Free-run [BX]: Sequence input signal (Reference value 54)

To put the servomotor forcibly into free-run (coast-to-stop).
Priority is given to this signal in all control modes.
 Function
While the free-run [BX] signal assigned to a CONT input signal remains turned
on, the output of the servo amplifier is shut off and the servomotor free-run.
The output shaft of the servomotor decelerates (accelerates) according to the
torque of the load.
The free-run signal is enabled in all control modes (position control, speed
control and torque control modes).
Under position control, the number of output pulses sent from the host controller
deviates from the revolution amount of the servomotor because the servomotor
free-run while the signal remains turned on.
Under speed control and torque control, as the servomotor automatically become
free-run, in case it is used for vertical transportation purpose, note that there is a
risk of falling.
80 Wiring
To assign free-run to a sequence input terminal, specify the corresponding value
(“54”) to the input terminal function setting parameter.
Edit permission: Sequence input signal (Reference value 55)

Editing operation for parameters and so on is limited with an external sequence input
signal.
 Function
The edit permission assigned to a CONT input signal controls editing operation
2 and test operation made at the keypad or PC Loader. The following operation
can be executed only while the edit permission remains turned on.
• Parameter edit mode
• Positioning data edit mode
• Test operation mode
When the edit permission assigned to a CONT input signal is turned off, only the
monitor mode can be executed. This function can be used to avoid inadvertent
operation of the keypad or PC Loader, thereby avoiding movement of the
servomotor, drop of the machine, etc.
To assign the edit permission to a sequence input terminal, specify the
(1) Parameter write protection
Specify “1” (write protection) to PA2_74 (parameter write protection) to disable
key operation at the keypad and parameter editing at the PC Loader.
The relationship between the edit permission and PA2_74 (parameter write
protection) is shown in the table below.
Edit permission
Edit permission PA2_74 Parameter change operation
response
Not assigned 0 : Write enable ON ON (Possible)

OFF 0 : Write enable OFF OFF (Impossible)
ON 0 : Write enable ON ON (Possible)
Not assigned 1: Write protect OFF OFF (Impossible)
OFF 1: Write protect OFF OFF (Impossible)
ON 1: Write protect OFF OFF (Impossible)
(2) Edit permission response

The edit permission response is an output signal.
The signal is output if it is assigned to an output signal and the edit permission is
turned on. To assign the edit permission response to a sequence output terminal,
specify the corresponding value (“29”) to the output terminal function setting
parameter.
Wiring 81
Anti resonance frequency selection 0: Sequence input signal (Reference value 57)
Anti resonance frequency selection 1: Sequence input signal (Reference value 58)
Select the anti resonance frequency, which is a vibration suppressing control function.
 Function
In a spring characteristic structure such as the robot arm and transfer machine,
vibration is caused at the end of the workpiece upon sudden acceleration or
deceleration of the motor. Vibration suppressing control aims at suppression of
vibration of the workpiece in such a system, thereby realizing positioning at a
shorter cycle time. Four points through combination of anti resonance frequency 2
selection 0 and anti resonance frequency selection 1 can be specified.
The anti resonance point may vary according to the length of the arm and the weight of the load.
(a) (b) (c)
Selection of the anti resonance frequency is shown in the table below.
Anti resonance Anti resonance Vibration suppressing Vibration suppressing

frequency selection 1 frequency selection 0 resonance frequency workpiece inertia ratio
OFF OFF PA1_78 PA1_79

OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83
ON ON PA1_84 PA1_85
To assign anti resonance frequency selection 0 or anti resonance frequency
selection 1 to the sequence input terminals, specify the corresponding value
(“57” or “58”) to the input terminal function setting parameter.
If these signals are not assigned to the sequence input signals, they are treated
as “always OFF”.
Therefore, PA1_78 (vibration suppressing anti resonance frequency 0) is always
enabled.
To disable the anti resonance frequency, set the anti resonance frequency at
300.0 Hz.
Because in-cycle switching of the anti resonance frequency causes a shock,
switch during stoppage without fail.
In addition, it is recommended to use PA1_52 (low-pass filter (for S-curve) time
constant) in parallel.
82 Wiring
AD0: Sequence input signal (Reference value 60)

Enter the address of positioning data to be followed, among AD0 to AD3.
2 Refer to the table below when entering.
<Address No. selection table>
Sequential Operation mode In case of internal
Address
AD3 AD2 AD1 AD0 start selection positioning data selection: PA2_40=1
No.
PA2_41 (enable)
0: Disable Address error
1: Enable Sequential start
2: Homing Homing operation
0 OFF OFF OFF OFF
3: Immediate
value data Immediate value data operation
operation
1 OFF OFF OFF ON 㸢 Operation with positioning data 1
2 OFF OFF ON OFF 㸢 Operation with positioning data 2
3 OFF OFF ON ON 㸢 Operation with positioning data 3
4 OFF ON OFF OFF 㸢 Operation with positioning data 4
5 OFF ON OFF ON 㸢 Operation with positioning data 5
6 OFF ON ON OFF 㸢 Operation with positioning data 6
7 OFF ON ON ON 㸢 Operation with positioning data 7
8 ON OFF OFF OFF 㸢 Operation with positioning data 8
9 ON OFF OFF ON 㸢 Operation with positioning data 9
10 ON OFF ON OFF 㸢 Operation with positioning data 10
11 ON OFF ON ON 㸢 Operation with positioning data 11
12 ON ON OFF OFF 㸢 Operation with positioning data 12
13 ON ON OFF ON 㸢 Operation with positioning data 13
14 ON ON ON OFF 㸢 Operation with positioning data 14
15 ON ON ON ON 㸢 Operation with positioning data 15
Wiring 83
Positioning data selection: Sequence input signal (Reference value 77)

Positioning data operation and immediate value operation are switched over.
 Function
The positioning data can be switched at an arbitrary timing between the
following: positioning within 15 points with internal positioning data and
positioning with immediate value data for frequent positioning data change.
If the CONT signal is turned on, the positioning data is enabled.
if the CONT signal is turned off, the immediate value data is enabled.
The switching timing is always enabled.
The data is recognized at the rising edge of the START signal. 2
If the timing is simultaneous, the data after signal change is enabled.
To assign positioning data selection to a sequence input terminal, enter the
Broadcast cancel: Sequence input signal (Reference value 78)

The command using the broadcasting method via Modbus-RTU communications is
canceled.
 Function
The Modbus-RTU protocol can issue queries from the host controller, the master,
to all the slave stations at the same time. For example, if the servo has a five-
axis structure (of A, B, C, D, and E-axes), the servo at all the stations can be
started with positioning simultaneously.
On the other hand, the Modbus-RTU protocol cannot perform the broadcast by
allocating a group station no. separately. For example, if the servo has a five-axis
structure (of A, B, C, D, and E-axes), the servo cannot be started with positioning
simultaneously by selecting the A-axis and the B-axis only.
Thus by using this function, the broadcast in a separate group station no. can
be performed. The broadcast enable/disable status can be switched using the
broadcast cancel signal.
To assign broadcast cancel to a sequence input terminal, enter the
Furthermore, if the broadcast cancel signal “78” is assigned to the parameter
CONT always ON, the broadcast function is kept disabled. (The query of
broadcast is always canceled.)
84 Wiring
<Logic of broadcast cancel signals>

Broadcast cancel Broadcast Uni-cast
No allocation Enabled
OFF Enabled
Enabled
Disabled
ON Cancels the queries of broadcast,
without responding.
 Relevant descriptions
2 <Signal switching timing>
1) When switching the broadcast cancellation status between ON and OFF using
the CONT signals (CONT9 to 24) via communications, see “2. Communications
timings” on page 13-27
The timing is determined based on the standard communications timing. There is
no individual timing prepared for the broadcast cancel.
2) When switching the broadcast cancel status between ON and OFF by using the
CONT signals (CONT 1 to 5) by hard signals, see the chart below. Switch the ON
and OFF of broadcast cancel under the following conditions:
(1) T1 or longer duration has elapsed after the timing the query is issued (end of
telegraph), and
(2) within 2 ms before the timing the query is issued (top of telegraph).
The value “T1” corresponds to the parameter PA2_73 (Communication baud
rate), and is provided as in the table below.
Broadcast query This query is canceled.
Master 㸯 Query Query Query

Amplifier 㸯 T1 2 ms T1 2 ms
Broadcast cancel
2))
Signal ON/OFF timing
PA2_73: Communication baud rate T1

0㸯38400 bps 5 ms
1㸯19200 bps
10 ms
2㸯9600 bps
3㸯115200 bps 1.7 ms
Wiring 85
Output signal
Ready for servo-on [RDY]: Sequence output signal (Reference value 1)
This signal is turned on if the servomotor is ready to operate.
 Function
The ready for servo-on signal is turned on if the conditions shown in the table
below are satisfied.
Signal Function
Signal name Signal status
division No.
2
Servo-on [S-ON] 1 ON
CONT input Forced stop [EMG] 10 ON
Free-run 54 OFF
Alarm detection (Normally
16 OFF
OUT output open contact)
Servo control ready [S-RDY] 28 ON
This signal is turned on under speed control and torque control.

To assign ready for servo-on [RDY] to a sequence output terminal, specify the
The servo control ready [S-RDY] (reference value 28) signal can be output.
The servo control ready signal is turned on if the conditions shown in the table
below are satisfied.
Signal Function
division No.
Forced stop [EMG] 10 ON

CONT input
Free-run 54 OFF
OUT output 16 OFF
open contact)
The internal CPU operates correctly. -
The L1, L2 and L3 terminals are turned on. -
86 Wiring
In-position [INP]: Sequence output signal (Reference value 2)

This signal is turned on after a positioning motion is finished.
 Function
(1) Status of in-position signal
The state under position control is shown in the table below.
Factor Sequence status Status of in-position signal
If servo-on [S-ON] is turned off Free-run ON
2 If servo-on [S-ON] is turned on Servo lock ON

Upon OT detection Servo lock ON
At deviation clear Servo lock ON
If forced stop [EMG] is turned off Zero speed ON
Upon alarm Free-run OFF
This signal is always turned on under speed control and torque control.
(2) In-position signal output format
PA1_33 (in-position output format) at either “0” (level) or “1” (single shot) can be
set.
To assign in-position [INP] to a sequence output terminal, specify the
 Signal activation condition
(1) At power-on
Level: ON
Single shot: OFF
(2) During command pulse input operation
Level: The signal is turned on if conditions (A) and (B) below are satisfied.
(A) The rpm of the servomotor is within the setting of PA1_30 (zero
speed range).
(B) The difference (deviation amount) between the command position
(command pulse input) and feedback position is within the setting
of PA1_32 (zero deviation range/in-position range).
Single shot: If conditions (A) and (B) above are satisfied, the signal is turned on
for the time specified at PA1_34 (In-position minimum OFF time/
single shot ON time) and then it is turned off.
However, if the zero deviation signal is turned off while the signal
remains turned on, the signal is forcibly turned off.
Wiring 87
Rotation speed PA1_32: Zero deviation

range/In-position range
Time
Zero speed ON OFF ON
Zero deviation ON OFF ON
In-position (level)
ON OFF ON 2
In-position PA1_35: In-position judgment time
(single shot)
䠡䠠
PA1_34: In-position minimum

OFF time / Single shot ON time
(3) Interrupt positioning

Level: The signal is turned on if conditions (A) and (B) below are satisfied.
speed range).
for the time specified at PA1_34 (in-position minimum OFF time /
(4) Homing/start positioning

Level: The signal is turned on if conditions (A) and (B) below are satisfied
speed range).
for the time specified at PA1_34 (in-position minimum OFF time /
88 Wiring
Speed limit detection: Sequence output signal (Reference value 11)

The signal is turned on if the rotation speed of the servomotor reaches the preset
speed limit.
 Function
The signal is output to an external device if the rpm of the servomotor reaches
the preset speed limit.
• Under speed control and position control (except for command pulse
operation), the speed limit depends on the setting of PA1_25 (maximum
rotation speed for position and speed control).
2 • Under torque control, the speed limit depends on the setting of PA1_26
(maximum rotation speed for torque control).
However, if PA2_56 (speed limit selection at torque control) is “1,” the speed
limit can be selected with multi-step speed settings X1 to X3.
To assign speed limit detection to a sequence output terminal, specify the
Over write completion: Sequence output signal (Reference value 13)

This signal is turned on after teaching is made and data is overwritten.
 Function
(1) Data setting (overwriting)
The signal remains turned on while the teaching function enters data.
Teaching OFF ON
Overwrite OFF ON
completion
To assign the overwriting completion signal to a sequence output terminal, enter
the corresponding value (“13”) to the output terminal function setting parameter.
Brake timing: Sequence output signal (Reference value 14)

The timing signal for applying or releasing the brake of the servomotor.
The signal is turned on during operation, while it is turned off after operation is
stopped.
 Function
The brake timing output is turned off if the servo-on [S-ON] signal is turned off.
The ready signal is turned off after the torque keeping time to holding brake
(PA2_64).
Wiring 89
To assign the brake timing output to a sequence output terminal, specify the
Note
• The brake attached to the brake-attached servomotor is “for retention.”
Do not use it for regenerative.
• Do not use the 24 V power supply for sequence I/O signals in parallel.
Be sure to prepare a separate power supply for the brake.
• To apply or release the brake with the brake timing output, turn the servo-on [S-ON] signal off first
before turning the power off.
 Relevant description 2
Timing chart
(1) ON/OFF of servo-on [S-ON] signal
Servo on [S-ON] 㻲㻩㻩㻲㻱㻲㻩㻩
Base signal 㻲㻩㻩㻲㻱㻲㻩㻩

PA2_64䠌
Torque keeping time to holding brake
Ready for servo-on [RDY] 㻲㻩㻩㻲㻱㻲㻩㻩
Brake timing output 㻲㻩㻩㻲㻱㻲㻩㻩
(2) Upon alarm
Alarm detection OFF ON
Base signal ON OFF
Ready for servo-on [RDY] ON OFF
Brake timing output ON OFF

90 Wiring
(3) Upon main power supply OFF
Main power suppy ON OFF
Base signal ON OFF
Ready for servo-on [RDY] ON OFF
Brake timing output

2
ON OFF
Alarm detection (normally open contact): Sequence output signal (Reference

value 16)
Alarm detection (normally closed contact): Sequence output signal (Reference

value 76)
Normally open contact: Signal is turned on (switch: closed) if servo amplifier detects
an alarm.
Normally closed contact: Signal is turned on (switch: open) if servo amplifier detects
an alarm.
 Function
These signals are turned on if the servo amplifier detects an alarm, and the state
is retained on the servo amplifier side. After the cause of the alarm is removed,
the signal is turned off (to be ready to operation) upon a rising edge of the alarm
reset [RST] signal.
Alarm can be checked by having the host controller recognizes the alarm
detection.
It can be also checked when the servo-on [S-ON] is ON and ready for servo-on
[RDY] is OFF.
Precautions for using a normally closed contact for alarm detection
Power
OFF ON
Reset [ RST]
OFF ON OFF
Alarm detection: NC
contact OFF 1.5 sec. ON OFF ON
Alarm detection
The signal will be off for up to 1.5 seconds after the power is turned on. Check
the signal status waiting for 1.5 seconds or more after the power is turned on.
Wiring 91
To assign alarm detection (normally open contact) to a sequence output terminal,
system parameter.
For alarm detection (normally closed contact), specify (“76”).
The nature of the detected alarm can be output to the sequence output terminal
in a code.
Alarm code 4 [ALM4] (36)
Alarm code 2 [ALM2] (34) 2
Point detection, area 1: Sequence output signal (Reference value 17)
Point detection, area 2: Sequence output signal (Reference value 18)

The current position of the servomotor is detected and output in these signals.
This function is enabled after homing or position preset.
 Function
Three types of the output format can be selected through settings of PA2_31
(point detection, area detection).
The signal can be output at two points with point detection, area 1 and 2.
(1) PA2_31 (point detection, area detection) = 0: point detection
The signal is turned on near the position specified with PA2_32 (point detection,
area detection 1) or PA2_33 (point detection, area detection 2).
190.0 200.0 210.0
Current position
Point detection
OFF ON PA2_32: Point detection, area detection position 1
PA2_33: Point detection, area detection position 2
10.0 10.0 PA2_34: Point detection range
(2) PA2_31 (point detection, area detection) = 1: ON for positive side

The signal is turned on at a position beyond the setting of PA2_32 (point
detection, area detection 1) or PA2_33 (point detection, area detection 2).
The signal is turned off below the setting.
Current position
190.0 200.0 210.0
Area
OFF ON
92 Wiring
(3) PA2_31 (point detection, area detection) = 2: ON for negative side

The signal is turned on below the setting of PA2_32 (point detection, area
detection 1) or PA2_33 (point detection, area detection 2).
The signal is turned off beyond the setting.
Current position 190.0 200.0 210.0

Area ON OFF
2  Parameter setting
To assign point detection and area 1 to a sequence output terminal, specify the
Specify (“18”) for point detection and area 2.
Limiter detection: Sequence output signal (Reference value 19)

With this signal, the limiter function availability can be checked.
This function becomes enabled after homing or position preset.
 Function
The limiter function is enabled in the position control mode, and not enabled in
the interrupt positioning operation.
The limiter function always stops travels at the detection position even if a
position command with the value exceeding the parameter of PA2_28 (positive
limiter detecting position) or PA2_29 (negative limiter detecting position) is given,
never allowing the travel to exceed the limiter detection position.
The deceleration time in stopping follows the parameters and the positioning
data settings. (However, travels are stopped in rapid deceleration during pulse
operation.)
After stopped at the limiter detection position, the limiter detection signal is output
in the same condition as the In-position signal output.
To return from the limiter detection condition, shift the current position by giving
a command in the opposite direction from the detection direction. The limiter
detection signal will turn off, enabling travels in both directions.
Rotation speed
Time
OFF
Start positioning
Limiter detection OFF
The above positioning data assumes uniform incremental positioning data.

Wiring 93
To assign limiter detection to a sequence output terminal, enter the
The limiter function is a useful function. It allows the motor to travel at a uniform
interval to the preset parameter position, which eliminates the need to calculate
the frequency of starting or remaining distance to go to the set position.
OT detection: Sequence output signal (Reference value 20)

2
This signal is output if the over-travel (OT) signal is turned off.
 Function
The OT detection (“20”) sequence output is issued while the +OT (7) or -OT (8)
sequence input signal terminal remains turned off.
In addition, OT detection (“20”) is turned on if the current position reaches the
reference value of the software OT detection position.
If “7” (positioning operation) is selected for PA1_01 (control mode selection),
PA2_25 (position command format) is enabled.
Select “0” (regular PTP) with PA2_25 to enable the software OT function.
Select “1” (non-overflow) with PA2_25 to disable the software OT function.
To assign OT detection to a sequence output terminal, specify the corresponding
value (“20”) to the output terminal function setting parameter.
(1) +OT detection (38)/-OT detection (39)
A + OT signal is detected during servomotor travel in the positive direction; while
a - OT signal is detected during travel in the negative direction.
Use sequence output signals to notify the host controller of detection of the + OT
or - OT signal.
Connect to the host controller in general if the host controller is equipped with OT
inputs.
(2) Software OT
Set PA2_25 (software OT selection) at “1” (enable) to limit the position range of
motion between (PA2_26 (positive software OT detection position)) and (PA2_27
(negative software OT detection position)).
If the range is exceeded, the motion is forcibly stopped with the OT detection
(“20”) sequence output turned on.
Therefore, the motor stops at a position over the software OT detection position.
The + OT (or - OT) sequence input is mechanical position detection, while
software OT is position detection of the servo amplifier. Software OT to reverse
the homing motion shall not be applied.
94 Wiring
Movable range
Feedback position
PA2_27: - software OT detection PA2_26: + software OT detection

position position
Cycle end detection: Sequence output signal (Reference value 21)

This signal is turned on after the cycle end position is reached if the cycle end is
assigned to the positioning data. PA2_41 (sequential start selection) must be set at
“1” (enable). Change PA2_40 (internal positioning data selection) to “1” (enable).
2  Function
Starting at the positioning data at an arbitrary address, execute positioning
data with merely the start positioning signal sequentially until positioning data
including the “CEND” status is reached.
Follow the procedure below to execute sequential start.
(1) Designate the first positioning data number and issue the start positioning signal
to start the positioning motion.
(2) Turn all positioning data addresses off and issue the start positioning signal. The
motion starts with the next positioning data.
(3) Step (2) is repeated until the positioning data including “CEND” is reached
(4) After positioning motions are completed up to the positioning data including
“CEND,” the cycle end detection signal is turned on at the same timing as the
in-position signal.
(5) You can supply the start positioning signal with all addresses turned off to repeat
the above steps (1) through (4).
CEND
Rotation speed
7 8 9 10 7
Time
In-position ON OFF
(level)
Cycle end deteetion OFF
Address 7 00
To assign cycle end detection to a sequence output terminal, enter the
The cycle end detection signal is not output if sequential start cannot be executed.
• If the servo-on signal is turned off
• If the pulse ratio is enabled or a homing cycle is executed during sequential
operation
• If +OT or -OT is detected or if software OT is detected
Wiring 95
Neither positioning cancel nor pause gives effects on cycle end detection.
When positioning data number 15 is reached during sequential operation, the
cycle end process is executed.
If data continuation designation is included in positioning data, operation starts at
the next data having no data continuation designation.
Homing completion: Sequence output signal (Reference value 22)

This signal is turned on after the homing motion is finished.
 Function 2
This signal is turned on after the homing motion is normally finished. It remains
turned on if the feedback position is within PA2_17 (home position detection
range) around PA2_16 (home position after homing completion).
The signal is always turned on after homing if PA2_17 (home position detection
range) is “0” or the maximum value.
Home position
Current position
Homing completion
OFF ON
PA2_17: Home position detection range
The home position is the stopping point after a homing motion is finished, or a
position at which position preset is executed. It does not mean the “0” position.
To assign homing completion to a sequence output terminal, specify the
Zero deviation: Sequence output signal (Reference value 23)

The signal is turned on if the deviation (deviation amount) retained in the servo
amplifier becomes within the reference value under position control.
Whether the servomotor has reached close to the command position can be
checked.
 Function
The signal is turned on if the difference (deviation amount) between the
command position and feedback position is within the reference value of PA1_32
(zero deviation width/in-position range).
The signal status is retained in control modes other than position control mode
(such as torque control mode).
Position deviation will not be generated despite the reference value of PA1_32.
96 Wiring
To assign zero deviation to a sequence output terminal, specify the
Zero speed [NZERO]: Sequence output signal (Reference value 24)

The signal is turned on if the servomotor rotation speed is nearly zero.
 Function
The signal is turned on if the servomotor rotation speed is within the reference
2 value of PA1_30 (zero speed range).
The signal can be used as a motor stopping condition signal.
To assign zero speed [NZERO] to a sequence output terminal, specify the
Speed coincidence [NARV]: Sequence output signal (Reference value 25)

The signal is turned on after the servomotor rotation speed has reached the
command speed.
 Function
The signal is turned on if the servomotor rotation speed is within the reference
value of PA1_29 (speed coincidence range).
The command speed is the reference values of PA1_41 to 47 (manual feed
speed 1 to 7) and the speed command voltage supplied to the VREF terminal.
The signal is enabled under speed control and position control (interrupt
positioning) and in the homing cycle. It is turned off under torque control.
During manual operation, the signal is not output under the following conditions.
• If the [FWD] or [REV] signal is turned off
• If the speed does not reach due to PA1_25 (max. rotation speed (for position
and speed control))
• If the deceleration time is too long to reach the command speed
To assign the speed coincidence [NARV] signal to a sequence output terminal,
parameter.
Wiring 97
PA1_25 (max. rotation speed (for position and speed))
Specify the upper limit of the servomotor rotation speed which is specified with a
parameter.
If the maximum rotation speed is exceeded due to an override or similar, the
servomotor rotates at the specified value.
Under torque control, there is a difference of about 100 r/min between the
reference value and the actual servomotor rotation speed. (This is because the
speed is not controlled).
The maximum rotation speed setting is disabled under command pulse input
position control. 2
Torque limit detection: Sequence output signal (Reference value 26)

The signal remains turned on while the output torque of the servomotor is at the
torque limit value.
 Function
The torque limit value can be changed according to conditions. For details, refer
to “Torque limit 0, 1.”
The torque limit detection (26) output is enabled in all control modes.
To assign torque limit detection to a sequence output terminal, specify the
Overload warning detection: Sequence output signal (Reference value 27)

The signal is turned on if the servomotor load factor is at the reference value.
A warning can be issued before the servomotor is suddenly stopped due to an
overload alarm or similar.
 Function
The signal is turned on if the load factor of the servomotor reaches the overload
warning level of PA2_70 (overload warning value).
The signal is automatically turned off if the factor falls below the overload
warning level. (There is no way to reset with a sequence input signal.)
The signal can be issued before the servo amplifier trips due to an overload
alarm. Determine the reference value while referring to the characteristics
diagram specified on the next page.
To assign overload warning detection to a sequence output terminal, specify the
98 Wiring
 Standard series
Overload warning time (at 3000 r/min)
200
OL1
180 OL2
Overload warning value=100%
160 Overload warning value=80%
Overload warning time [s]
120
2 100
80
60
40
20
0
0 50 100 150 200 250 300
Load factor [%]
Overload warning time (at 6000 r/min)

100
90 OL1
OL2
Overload warning time [s]

70
60
50
40
30
20
10
0
0 50 100 150 200 250 300
Load factor [%]
Wiring 99
Servo control ready [S-RDY]: Sequence output signal (Reference value 28)
Use the signal to check that the servo amplifier and servomotor operate correctly.
 Function
The servo control ready signal remains turned on while the conditions listed in
the table below are satisfied.
Signal Function
division No.
Forced stop [EMG] 10 ON
2
CONT input
Free-run 54 OFF
OUT output 16 OFF
open contact)
The internal CPU operates correctly. -
The L1, L2 and L3 terminals are turned on. -
To assign servo control ready to a sequence output terminal, specify the
Edit permission response: Sequence output signal (Reference value 29)

The signal is output if the “edit permission” input signal for enabling editing operation
for parameters, etc. is turned on.
 Function
After the edit permission assigned to a CONT input signal is on, under some
conditions, the “edit permission response command” is turned on. The conditions
are listed in the table below.
Parameter change Edit permission
Edit permission PA2_74
operation response
Not assigned 0: Write enable ON Possible
OFF 0: Write enable OFF Impossible
ON 0: Write enable ON Possible
Not assigned 1: Write protect OFF Impossible
OFF 1: Write protect OFF Impossible
ON 1: Write protect OFF Impossible
To assign edit permission response to a sequence output terminal, specify the
For details, refer to “Edit permission.”
100 Wiring
Data error: Sequence output signal (Reference value 30)

The signal is turned on if the data reading or writing process does not proceed
correctly.
 Function
The signal is turned on if the address and data are incorrect (drifting beyond the
specification limit) when performing teaching.
To assign the data error to a sequence output terminal, enter the corresponding
value (“30”) to the output terminal function setting parameter.
2
Address error: Sequence output signal (Reference value 31)
The signal is turned on when deviation from the positioning data number range and
speed data range (at start) is detected.
 Function
The signal is turned on if the start positioning (“4”) signal is turned on while AD3
through AD0 are turned off with PA2_41 (sequential start selection) being “0”
(disable).
Start operation with a correct positioning data number to turn the signal off.
To assign the address error to a sequence output terminal, enter the
Alarm code 0: Sequence output signal (Reference value 32)

Upon alarm, signal to output alarm details into code
 Function
When an alarm occurs, the detected alarm detail can be specified by checking
the signal of the alarm code 0 to 4 assigned to OUT output signals.
To assign alarm code 0 to 4 to sequence output terminals, specify the
corresponding value (“32” to “36”) to the output terminal function setting
parameter.
Wiring 101
 List of alarm detail and code
Alarm detail ALM4 ALM3 ALM2 ALM1 ALM0 Code Indication Order
No alarm (normal operation) 00H nonE -

Overload 1 1 01H oL1 15
Overload 2 1 01H oL2 16
- (Unused) 1 0 02H - -
Amplifier Overheat 1 1 03H AH 22
2
1 0 0 04H rH1 18
Overheat
1 0 0 04H rH2 19
Overheat
Breaking Transistor Error 1 0 0 04H rH3 20
1 0 0 04H rH4 17
Circuit Trouble
Deviation Overflow 1 0 1 05H oF 21
Overcurrent 1 1 1 0 06H oC1 1
Overcurrent 2 1 1 0 06H oC2 2
Overspeed 1 1 1 07H oS 3
Overvoltage 1 0 0 0 08H Hv 5
Main Power Undervoltage 1 0 0 1 09H LvP 17
Encoder Trouble 1 1 0 1 0 0AH Et1 6
Encoder Trouble 2 1 0 1 0 0AH Et2 7
Initial Error 1 0 1 1 0BH IE 28
Circuit Trouble 1 1 0 0 0CH Ct 8
Memory Error 1 1 0 1 0DH DE 9
Fuse Blown 1 1 1 1 0FH Fb 10
Encoder Communication Error 1 0 0 0 0 10H EC 13
Motor Combination Error 1 0 0 0 1 11H CE 11
Breaking Transistor Overheat 1 0 0 1 0 12H tH 12
CONT㸝Control signal㸞Error 1 0 0 1 1 13H CtE 14
Encoder Overheat 1 0 1 0 0 14H EH 23
Absolute Data Lost 1* 1 0 1 0 1 15H dL1 24
Multi-turn Data Over Flow* 1 0 1 1 0 16H AF 27
*1=ON, 0=OFF Indication indicates characters displayed on the amplifier.
*The data of no.4 in order is void.
102 Wiring
Type Nature of alarm ALM4 ALM3 ALM2 ALM1 ALM0 Code
Maintenance Battery warning 1 0 1 1 1 17H

function Life warning 1 1 0 0 0 18H
Address BCD error 1 1 0 0 1 19H

error Out-of-range error 1 1 0 1 0 1AH
Command rejection 1 1 0 1 1 1BH
BCD error 1 1 1 0 0 1CH
Data error
Out-of-range error, 0 data write 1 1 1 0 1 1DH
2
Negative sign designation 1 1 1 1 0 1EH
• If two or more alarms occur simultaneously, alarms are output in the priority
specified in the table above.
• The life warning is for the capacitors in the main circuit inside the servo
amplifier and the cooling fan (OR condition).
+OT detection: Sequence output signal (Reference value 38)
-OT detection: Sequence output signal (Reference value 39)

The state of over-travel (±OT) is output.
 Function
The corresponding positive or negative OT detection sequence output is turned
on while the +OT or -OT sequence input signal terminal remains turned off.
To assign positive or negative OT detection to a sequence output terminal,
specify the corresponding value (“38” or “39”) to the output terminal function
setting parameter.
(1) OT detection
The signal is turned on when the servomotor detects the OT signal in either the
positive or negative direction. For details, refer to page 2-67.
(2) Software OT
Set PA2_25 (software OT selection) at “1” to allow movement in the position
range between (PA2_26 (positive software OT detection position)) and (PA2_27
(negative software OT detection position)).
For details, refer to “PA2_25 to 27 (software OT selection/position command
format, software OT detection position).”
Wiring 103
Home position LS detection: Sequence output signal (Reference value 40)

The signal is output while the home position LS signal (input signal) remains turned on.
 Function
The sequence output corresponding to home position LS detection is turned on
while the home position LS sequence input signal remains turned on.
To assign home position LS detection to a sequence output terminal, specify the
Forced stop detection: Sequence output signal (Reference value 41) 2

The signal is turned on while the forced stop signal (input signal) remains turned on
(relay:open).
 Function
Forced stop detection is turned on when the forced stop sequence input signal is
turned on (relay:open). For details, refer to “Forced stop.”
To assign forced stop detection to a sequence output terminal, specify the
Battery warning: Sequence output signal (Reference value 45)

The signal is output if the battery voltage is smaller than the rated value.
 Function
If the battery voltage is smaller than the rated value in an established ABS
system (absolute system), a battery warning signal is turned on.
To assign battery warning to a sequence output terminal, specify the
Replace the battery immediately if this signal is turned on.
Life warning: Sequence output signal (Reference value 46)

The life of internal main circuit capacitors of the servo amplifier and that of the
cooling fan are calculated and output its signal.
 Function
The life of internal main circuit capacitors of the servo amplifier and that of the
cooling fan are calculated and, if either exceeds the rated time, a life warning is
turned on.
Use the PC Loader or keypad (En03) to discriminate between the main circuit
capacitors and cooling fan.
To assign the life warning to a sequence output terminal, specify the
104 Wiring
MD0: Sequence output signal (Reference value 60)

2

The M code of positioning data currently executed is output.
 Function
The M code of the positioning data being executed is output.
Unlike JIS B 3614, M00, M02, M30, M98 and M99 are not provided with specific
functions but are general-purpose code outputs. No interlock function is provided
at MON and MOFF.
The M code is output at M code sequence output terminals 0 to 7 (“60” to “67”).
The M code is a hexadecimal between 00H and FFH.
* The default value of the M code is FF.
In case of RS-485 communications, the code can be acquired through in-process
positioning data read function.
To assign M codes 0 to 7 to sequence output terminals, enter corresponding
value (“60” to “67”) to the system parameter.
(1) M code setting range
Enter the M code in a binary between 00h and FFh.
(2) Output at start (output in start) / output at completion (output after completion)
You can select the M code output timing between during execution of positioning
data (output at start) and after execution of positioning data (output at
completion).
Output at start (in-process output)

The signal is issued since the start of the positioning motion to the end. After the
positioning motion is finished, the signal is turned off.
Wiring 105
Simultaneous output of M code
Rotation
M code 20
speed
Time
Stand still timer
(positioning data)
Ready for
ON
servo-on
Start
OFF ON
positioning
AD3 to AD0 5 15
In-position
(level)
ON OFF ON
2
M code FF 20 FF
* Positioning data is executed while the timer time is counted.

Output at completion (after-process output)

The signal is output at positioning completion and is hold.
Output after M code issuing
Rotation
M code 20
speed
Time
Timer
(positioning data)
Ready for
ON
servo-on
Start
OFF ON
positioning
AD3 to AD0 5 15
In-position ON OFF ON
(level)
M code FF 20
* Positioning data is executed while the timer time is counted.

Position preset completion: Sequence output signal (Reference value 75)

This signal is output after position preset (position change) is executed and
completed.
 Function
If position preset is executed in an established ABS system (absolute system)
to reset from an alarm or change the current position, the sequence output
corresponding to position preset completion is turned on after position preset is
finished.
To assign position preset completion to a sequence output terminal, specify the
106 Wiring
Immediate value continuation permission: Sequence output signal (Reference

value 79)
The signal is turned on when the system is ready to accept an immediate value
continuation command.
 Function
The immediate value continuation command can be accepted only if this signal is
turned on after immediate value operation is started.
The signal is turned off after the continuation setting completion signal is turned
on. It is turned on again after data continuation is made.
2 The signal is turned off 50 ms after positioning based on the post-continuation data.
For details, refer to “Immediate value continuation.”
Enter the corresponding value (“79”) to the output terminal function setting
parameter. Relevant signal reference values are shown below.
Signal No.
22
signal
79
80
Immediate value continuation completion: Sequence output signal (Reference

value 80)
The signal is turned on after continuation of immediate value operation is processed
according to an immediate value continuation command, and it is turned off after the
immediate value continuation command is turned off.
 Function
After immediate value operation is started and positioning is completed, the
positioning motion continues according to new target position (speed) data.
The positioning motion continues even if deceleration is already started with
immediate value operation data.
For details, refer to “Immediate value continuation.”
parameter. The relevant signal reference values are shown below.

22
signal
79
80
Wiring 107
Immediate value change completion: Sequence output signal (Reference value 81)
The signal is turned on when the changing process is executed according to an
immediate value change signal, and it is turned off after the immediate value change
is turned off.
 Function
While the in-position signal is turned off after immediate value operation is
started, the target position and target speed can be changed at an arbitrary
timing.
For details, refer to “Immediate value change.”
The command position and command speed change at the activating edge of the 2
immediate value change command. While the positioning completion signal is
turned off, they can be changed at an arbitrary timing.
parameter. The relevant signal reference values are shown below.

Immediate value change 23
Immediate value change completion 81
Command positioning completion: Sequence output signal (Reference value 82)

The signal is turned on after the command value inside the servo amplifier is
completed.
 Function
The signal undergoes ON-to-OFF transition at the start of operation and OFF-
to-ON transition upon elimination of the internal command during manual feed,
positioning, homing or interrupt positioning. However, even if the command is
eliminated, in the case of the automatic-operation continuation stand still timer
counting cycle for example, the OFF state continues during operation. When
continuation of operation is disabled due to alarm detection, emergency stop
detection or OT detection, this signal is immediately turned on.
Speed
Command
Time
Motor speed
Start positioning ON
Command positioning OFF

completion ON
In-position OFF ON
108 Wiring
If the command positioning completion signal is allocated to an output signal,

the condition for the next start signal is activation of the command positioning
completion signal. Refer to the timing chart below.
(Example: Automatic operation continuation)
Speed Motor
speed
Command
2 Time
Command positioning
OFF
completion
ON
In-position OFF
[INP]
If a motion to the current position is started, the servomotor does not start but the
in-position signal is turned off for the time specified in PA1_34 (in-position minimum
OFF time / single shot ON time).
parameter.
Range 1 of position: Sequence output signal (Reference value 83)
Range 2 of position: Sequence output signal (Reference value 84)

This signal is issued upon detection of the current servomotor position.
The signal can be output at two positions: position range 1 and 2.
　 Range 1 of position: Enter at PA3_92 (range1 of position: setting1), and _93
(range1 of position: setting2).
　 Range 2 of position: Enter at PA3_94 (range2 of position: setting1), and _95
(range2 of position: setting2).
Wiring 109
1) Setting value of PA3_92 < Setting value of PA3_93
Range1 of position: Setting1 (PA3_92) Range1 of position: Setting2 (PA3_93)
1000.00 3000.00
Motor current
position
Range1 of
2
OFF ON OFF
position
2) Setting value of PA3_92 > Setting value of PA3_93
Range1 of position: Setting2 (PA3_93)

Range1 of position: Setting1 (PA3_92)
1000.00 3000.00
Motor current
position
Range1 of ON OFF ON
position
Note: If setting 1 of range 1 of position (PA3_92) is the same as setting 2 of range 1 of position (PA2_93),
range 1 of position is always turned off. The same is true for range 2 of position.
Interrupt positioning detection: Sequence output signal (Reference value 85)

This signal outputs the interrupt positioning motion mode status.
 Function
The signal turns on during interrupt positioning motion, and turns off with any of
the following conditions.
110 Wiring
(1) When the interrupt input enabling signal is turned off after the positioning motion
completion.
㻳㻤㻕㼂㻕㻓
㻃㻋㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼗㼕㼄㼙㼈㼏㼌㼑㼊㻃
㻶㼓㼈㼈㼇㼘㼑㼌㼗㻃㼄㼐㼒㼘㼑㼗㻌
㻷㼌㼐㼈
㻩㻺㻧䟺㻵㻨㻹䟻㻲㻩㻩㻲㻱
㻬㼑㼗㼈㼕㼕㼘㼓㼗㻃㼌㼑㼓㼘㼗㻃㼈㼑㼄㼅㼏㼈㻲㻩㻩㻲㻱㻲㻩㻩㻲㻱
2
㻬㼑㼗㼈㼕㼕㼘㼓㼗㻃㼌㼑㼓㼘㼗㻲㻱
㻲㻩㻩
㻬㼑㼗㼈㼕㼕㼘㼓㼗㻃㼓㼒㼖㼌㼗㼌㼒㼑㼌㼑㼊㻃
㼇㼈㼗㼈㼆㼗㼌㼒㼑㻲㻩㻩㻲㻱
㻬㼑㻐㼓㼒㼖㼌㼗㼌㼒㼑㻲㻱㻲㻩㻩㻲㻱
㻷㼋㼈㻃㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼓㼒㼖㼌㼗㼌㼒㼑㼌㼑㼊㻃㼇㼈㼗㼈㼆㼗㼌㼒㼑㻃㼚㼌㼏㼏㻃㼑㼒㼗㻃㼗㼘㼕㼑㻃㼒㼉㼉㻃㼈㼙㼈㼑㻃㼚㼋㼈㼑㻃
㼗㼋㼈㻃㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼌㼑㼓㼘㼗㻃㼈㼑㼄㼅㼏㼌㼑㼊㻃㼖㼌㼊㼑㼄㼏㻃㼌㼖㻃㼗㼘㼕㼑㼈㼇㻃㼒㼉㼉㻃㼇㼘㼕㼌㼑㼊㻃㼗㼋㼈㻃
㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼓㼒㼖㼌㼗㼌㼒㼑㼌㼑㼊㻃㼐㼒㼗㼌㼒㼑㻑
㻷㼋㼈㻃㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼓㼒㼖㼌㼗㼌㼒㼑㼌㼑㼊㻃㼇㼈㼗㼈㼆㼗㼌㼒㼑㻃㼚㼌㼏㼏㻃㼗㼘㼕㼑㻃㼒㼉㼉㻃㼌㼉㻃㼗㼋㼈㻃㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼌㼑㼓㼘㼗㻃㼈㼑㼄㼅㼏㼌㼑㼊㻃㼖㼌㼊㼑㼄㼏㻃
㼌㼖㻃㼗㼘㼕㼑㼈㼇㻃㼒㼉㼉㻃㼄㼉㼗㼈㼕㻃㼗㼋㼈㻃㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼓㼒㼖㼌㼗㼌㼒㼑㼌㼑㼊㻃㼆㼒㼐㼓㼏㼈㼗㼌㼒㼑㻃㻋㻃㼌㼑㻐㼓㼒㼖㼌㼗㼌㼒㼑㻃㻠㻃㻲㻱㻌㻑
(2) When the next start signal (FWD, REV, START, or ORG) is turned on.
㻳㻤㻕㼂㻕㻓㻃
㻋㼌㼑㼗㼈㼕㼕㼘㼓㼗㻃㼗㼕㼄㼙㼈㼏㼌㼑㼊㻃㼘㼑㼌㼗㻃㼄㼐㼒㼘㼑㼗㻌
㻶㼓㼈㼈㼇
㻷㼌㼐㼈
㻩㻺㻧䟺㻵㻨㻹䟻㻲㻩㻩㻲㻱㻲㻩㻩㻲㻱
㻬㼑㼗㼈㼕㼕㼘㼓㼗㻃㼌㼑㼓㼘㼗㻃㼈㼑㼄㼅㼏㼈㻤㼏㼚㼄㼜㼖㻃㻲㻱
㻬㼑㼗㼈㼕㼕㼘㼓㼗㻃㼌㼑㼓㼘㼗㻲㻩㻩㻲㻱
㻬㼑㼗㼈㼕㼕㼘㼓㼗㻃㼓㼒㼖㼌㼗㼌㼒㼑㼌㼑㼊㻃
㼇㼈㼗㼈㼆㼗㼌㼒㼑㻲㻩㻩㻲㻱
㻬㼑㻐㼓㼒㼖㼌㼗㼌㼒㼑㻲㻱㻲㻩㻩㻲㻱
(3) When the positioning cancel signal is turned on during interrupt positioning
motion.
(4) When changed to other than the position control servo-on mode from the
interrupt positioning mode
Example) EMG: emergency stop by turning to OFF, alarm occurrence, changed
to speed control, etc.
Wiring 111
parameter.
If the temporary stop is turned on during interrupt positioning motion, the mode is
regarded as the interrupt positioning mode.
(The interrupt positioning detection signal remains on.)
CONT Through: Sequence Output Signal (Setting value 91 to 95)

2
This function allows communications input signals to be output via OUT signals of
the hardware.
 Function
The signals set to CONT 20 to 24 can be output through OUT signals 1 to 3 of
the hardware. When a CONT□ signal is allocated to an OUT signal, the ON/
OFF status of the CONT signal is output as a through signal to the OUT signal
regardless of the function allocation of the corresponding CONT signal.
CONT signals respectively correspond to CONT a to e
Corresponding CONT signals

CONTa CONT20
CONTb CONT21
CONTc CONT22
CONTd CONT23
CONTe CONT24
Set the values (91 to 95) corresponds to the parameter of output terminal
function setting. The setting values to the relevant signals are as follows.
51 OUT1 signal assignment 0 to 95 91 : CONTa through

92 : CONTb through
52 OUT2 signal assignment 93 : CONTc through Power
94 : CONTd through
53 OUT3 signal assignment 95 : CONTe through
112 Wiring
2.6 Connection Example to

Host Controller
For products not described in this manual, be sure to refer to the manual attached to
the corresponding product. Refer to the connection diagram described here.
• The servomotor specified in the connection diagram is equipped with a brake. If
the servomotor is equipped with no brake, the Br terminal is not provided.
• Connection of connector 4 (CN4) is unnecessary for the operation of the
2 servomotor. Use it to measure or monitor the speed waveform and torque
waveform of the servomotor with a measuring instrument or similar.
• Connect a battery at connector 5 (CN5) to configure an absolute system.
It is unnecessary if the absolute system is not configured.
• To drive a servomotor, the main power must be supplied.
• Prepare separate power supplies for 24 VDC sequence I/O (CN1) and 24 VDC
brake.
This is to isolate the effects of voltage fluctuation caused by counter electromotive
force generated by power-on and -off of the brake coil. There is no polarity in the
brake power supply input.

resistor
PN junction
4 1 2 3
N(-)P(+) RB1
P(+)N(-) RB2
RB1 RB2
TB
TB
TB
U 11(A) U
positioning terminal.
V 22(B) V 䠟
L1
W 33(C) W
L2
terminal is shown below.
44(D)
L3
24 VDC 11(E) Br
Br
NP1SF-HP4DT)
(2)
22(F) Br
Br
CN2
P5 1 77(H) P5
P5
M5 2 88(G) M5
M5
SIG+ 5 55(C) SIG+
SIG+ 䠢䠙
SIG- 6 44(D) SIG-
SIG-
BAT+ 3 11(T) BAT+
BAT- 4 22(S) BAT-
33 FG
G
The maximum output frequency is 250 kHz.
4-axis pulse terminal CN1 Servomotor

[ 䠠䠢䠃䠥䠘䟿䠚䠖䠆䠖䠦 ] Terminal indication
P24 FFA 9 enclosed in
19 PPI parentheses ()
*FFA 10
GYS and GYC: 1 kW
7 CA FFB 11 or more
䠕䠩䠃 0 8 *CA *FFB 12 GYG: All models
䠕䠕䠩䠃 1 FFZ 23
20 CB
*FFZ 24
21 *CB
FZ 25 䐖
䠬䠃 8 䐖
M5 26 䐗
䠞䠥䠃 12 䐗
䠕䠡䠟 - OUT1 15
M 24 1 COMIN
OUT2 16
2 CONT1
䟽䠄䠆䠨 P24 OUT3 17
3 CONT2
䠂䠨 4 CONT3
2.6.1 Connection Example (Positioning terminal:
24 VDC 5 CONT4
24 VDC COMOUT 14
6 CONT5
CN5
This terminal needs no FB. For details, refer to the manual prepared for the
M24
BAT+ 2
䠘䠙
BAT- 1
A connection example with MICREX-SX Series four-axis pulse output positioning
Wiring 113
2
2
resistor
PN junction
114 Wiring
4 1 2 3
N(-) RB1
N(-)
P(+)P(+) RB2
RB1 RB2
shown below.
TB
TB
TB
U U
11(A) U
V 22(B) V
V 䠟
L1
W 33(C) W
L2
44(D)
L3
for the positioning module.
24 VDC Br
11(E) Br
(2) Br
22(F) Br
Pulse output positioning module
[ 䠠䠢䠃䠘-䠟䠢䠄 ] CN2
P5 1 7(H)
7 P5
P5
Feedback pulse, A-phase A7 䐚
M5 2 8(G)
8 M5
M5
Feedback pulse, *A-phase A6 䐛
SIG+ 5 5(C)
5 SIG-
SIG+ 䠢䠙
Feedback pulse, B-phase B7 䐜 SIG- 6 4(D)
4 SIG-
SIG-
Feedback pulse, *B-phase B6 䐝 BAT+ 3 1(T)
1 BAT+
BAT+
Feedback pulse, Z-phase A4 䐞 BAT- 4 2(S)
2 BAT-
BAT-
Feedback pulse, *Z-phase A3 䐟 3 FG
CN1
Feedback pulse, GND A5
Feedback pulse, GND B5 Servomotor
FFA 9 䐚
P24 19 PPI Terminal indication
*FFA 10 䐛 enclosed in
7 CA FFB 11 䐜 parentheses ()
Forward rotation pulse output A9 GYS and GYC:
8 *CA *FFB 12 䐝
Pulse output COM FFZ 23 䐞 1 kW or more
A8 20 CB GYG: All models
Reverse pulse output
*FFZ 24 䐟
B9 21 *CB
FZ 25
Pulse output COM B8 M24 M5 26
24 VDC for output A13 P24
24 VDC for output B13 OUT1 15
1 COMIN
Output COM A11 M24 OUT2 16
2 CONT1
Output COM B11 OUT3 17
3 CONT2
Input COM A14 P24 4 CONT3
P24 24 VDC 5 CONT4
Input COM B14 COMOUT 14
6 CONT5
䠄䠆䠨 A20
CN5
䠄䠆䠨 B20 P24
䠂䠨 A19 M24 BAT+ 2
BAT- 1
䠂䠨 B19
A connection example with MICREX-SX Series pulse two-axis positioning module is
2.6.2 Connection Example (Positioning module: NP1F-MP2)
The maximum output frequency is 200 kHz. For details, refer to the manual prepared
resistor
PN junction
4 1 2 3
N(-)P(+) RB1
P(+)N(-) RB2
RB1 RB2
TB
TB
TB
U 1(A)
1 UU
V 2
2(B) VV 䠟
L1
W 3(C)
3 W
L2
4
4(D)
L3
24 VDC 11(E) Br
(2) 22(F) Br
CN2
Pulse positioning module
[ 䠘䠅䠫䠢䠃䠆-䠂䠠 ]
P5 1 7
7(H) P5
P5
[ 䠘䠅䠫䠢䠃䠊-䠂䠠 ]
Yokogawa Electric is shown below.
M5 2 8
8(G) M5
M5
SIG- 5 5
5(C) SIG+
SIG- 䠢䠙
Z-phase input +
SIG+ 6 4
4(D) SIG-
SIG+
15a 䐖
BAT+ 3 1
1(T) BAT+
BAT+
Z-phase input - 16a 䐗
BAT- 4 2
2(S) BAT
M5
F3YP14-0N/ F3YP18-0N)
External power supply

5 Vin 8b 3
3(J) FG
FG
GND 8a
CN1 Servomotor
Terminal indication
For the PLC, refer to the corresponding manual.
5 䠨䠖䠕
enclosed in
FFA 9
*FFA 10 GYS and GYC:
Forward rotation pulse +14a 7 CA FFB 11 1 kW or more
Forward rotation pulse - 13a 8 *CA *FFB 12 GYG: All models
Reverse rotation pulse + 12a FFZ 23 䐖
20 CB
Reverse rotation pulse -
*FFZ 24 䐗
11a 21 *CB
FZ 25
M5 26
Deviation clear 10a 䐘
P24 OUT1 15
Contact input common 1a 1 COMIN
OUT2 16
2 CONT1
Deviation clear (GND)
OUT3 17
9a 3 CONT2
2.6.3 Connection Example (Positioning module:
䐘 4 CONT3
5 CONT4
Home position limit 4a COMOUT 14
6 CONT5
24 VDC
Contact input common 3a CN5
A connection example with the F3YP14-0N type positioning module made by
Home position limit 2a BAT+ 2

M24 BAT- 1
Wiring 115
2
2
resistor
PN junction
116 Wiring
4 1 2 3
N(-)P(+) RB1
P(+)N(-) RB2
RB1 RB2
TB
TB
TB
U 11(A) UU
V 22(B) VV 䠟
L1
W 33(C) W
L2
Electric is shown below.
44(D)
L3
24 VDC 11(E) Br
(2) 22(F) Br
Br
CN2
Pulse positioning unit
P5 1 7(H)
7 P5
P5
[ 䠣䠖䠉䠇䠖䠃 ]
M5 2 8(G)
8 M5
M5
SIG+ 5 5(C)
5 SIG+
SIG+ 䠢䠙
䠢䠙䠂䠇 1A9 䐖 SIG- 6 4(D)
4 SIG-
BAT+ 3 1(T)
1 BAT+
BAT+
䠢䠙䠂䚭䠕䠡䠟 1A10 䐗
BAT- 4 2(S)
2 BAT-
3 FG
䠤䠖䠫䚭䠕䠡䠟 1A12 䐘
䠕䠞䠗䠓䠤 1A13 䐙
CN1 Servomotor
For the PLC, refer to the corresponding manual.
Terminal indication
FFA 9 enclosed in
*FFA 10
䠢䠧䠞䠥䠗䚭䠘+ 1A15 GYS and GYC:
7 CA FFB 11 1 kW or more
䠢䠧䠞䠥䠗䚭䠘- 1A16 8 *CA *FFB 12 GYG: All models
䠢䠧䠞䠥䠗䚭䠤+ 1A17 FFZ 23
20 CB
䠢䠧䠞䠥䠗䚭䠤- *FFZ 24
1A18 21 *CB
FZ 25 䐖
M5 26 䐗
䠤䠗䠓䠖䠫 1A11
P24 OUT1 15 䐘
䠕䠡䠟 1A6 1 COMIN
OUT2 16
2 CONT1
䠘䠞䠥 1A1 OUT3 17
3 CONT2
䠤䠞䠥 1A2 䐙 4 CONT3
䠖䠡䠙 1A3 5 CONT4
COMOUT 14 M24
1A4 6 CONT5
䠥䠦䠡䠢 24 VDC
CN5
䠕䠚䠙 1A5
䠕䠞䠗䠓䠤䚭䠕䠡䠟 1A14 BAT+ 2
A connection example with the QD75 type positioning unit made by Mitsubishi
M24 BAT- 1
2.6.4 Connection Example (Positioning unit: QD75 type)
Connection between the QD75 type positioning unit and servo amplifier is shown.
Operation 117
3
3.1 Signal Description
(Priority among Input Signals)
Input signals of the servo amplifier for stopping the motor shaft are received first in
view of safety.
Section
Applicable signal
Description
(Function No.)
Free-run command (54)

01 Operation signal always given highest priority
Servo-on (1)
Forced stop (10)
02 Operation signal always given priority
External regenerative resistor overheat (34)
Torque limit 0 (19)
03 Signal for controlling the torque
Torque limit 1 (20)
+OT (7)
-OT (8)
Command pulse inhibit (26)
04 Signal for stopping the motor
Pause (31)
Positioning cancel (32)
Deviation clear (50)
Forward rotation (2)
Reverse rotation (3)
05 Signal for turning the motor
Start positioning (4)
Homing (5)
Home position LS (6)
+OT (7)
06 Signal for determining the home position -OT (8)
Interrupt input (49)
Position preset (16)
Alarm reset (11)
07 Signal irrelevant to motor operation
Edit permission (55)
118 Operation
• The moving part of the mechanical system of the elevator may drop if a free-run
command is used. Do not assign the command unless necessary.
• If +OT (7) is detected during rotation caused by a forward rotation (2) signal,
priority is given to the +OT (7) signal.
Even if the +OT (7) signal is detected, priority is given to the torque limit 0 and 1
(19 and 20) signal.
Priority is given to forced stop (10) during operation with a torque limit 0 and 1 (19
and 20) signal. However, if the free-run command (54) signal is issued, the servo
amplifier output is stopped.
• The response time of the sequence input terminal and output terminal is about 1
ms.
If the zero deviation signal setting or similar is too small, the host PLC may fail to
recognize.
3 (The scanning cycle of a general PLC is several tens of milliseconds [ms].)
Operation 119
3.2 Selection of Operation

Procedure
The VV type servo amplifier is capable of speed control and torque control with
analog voltages, position control with pulse, positioning data operation with Di/Do
signals or RS-485 communications, and immediate value data operation with RS-
485 communications.
Follow the flow chart below to select the desired operation and enter parameters, etc.
䠥䠦䠓䠤䠦
Positioning operation No Operation in FALDIC-䃇 No Positioning control with

3
speed control, torque control
with amplifier alone? series-compatible mode?
or pulse is used.
Yes Yes
Enter “7” to PA1_01 Enter “6” to PA1_01 Enter “1” to “5” to PA1_01
(control mode selection). (control mode selection). (control mode selection).
Positioning operation No Immediate value positioning

with internal data? operation is necessary.
Yes
Enter “1” to PA2_40 Enter “0” to PA2_40

(internal positioning data selection). (internal positioning data selection).
Positioning operation for up to 15 Positioning operation can be made Operation can be made with the Operation can be made
points can be made according to according to RS-485 (Modbus-RTU or PC same host settings as those of according to analog voltages
internal data. Loader) communications. FALDIC-䃇 Series. and pulse commands.
ձ ղ ճ մ
Refer to pages 3-15 Refer to pages 3-15 Refer to pages 3-13
Refer to page 3-12.
through 18. through 17 and 3-19. through 19.
ճմ
120 Operation
3.3 Operation Check

3.3.1 Power On
Connect the commercial power supply and the servomotor to the servo amplifier.
For the wiring method, refer to “CHAPTER 2 WIRING.”
 Supplying commercial power
Operate MCCB/ELCB to supply power.
If necessary, insert an electromagnetic contactor in the upstream of the main
power input so that the power can be shut off at any time.
The following results indicate the correct state.
(1) The charge LED lights up in red.
3 (2) If the servo amplifier is in the factory shipment state, the display on the amplifier
shows the following.
Charge LED
 If the charge LED does not light up

200 V is not supplied to the main power terminals (L1, L2 and L3). Check the
source voltage.
Operation does not start with single-phase 100 V power supply. In case of three-
phase 400 V, use a transformer to drop to 200 V to supply. (400 V will cause the
servo amplifier to be broken.)
 If the display does not light up
200 V is not supplied to the main power terminals (L1, L2 and L3). Check the
source voltage.
Operation does not start with signal-phase 100 V power supply. In case of three-
phase 400 V, use a transformer to drop to 200 V to supply. (400 V will damage
the servo amplifier.)
 If the error code on the display blinks
If the keypad display blinks, an alarm is detected.
Operation 121
3.3.2 Power-On/Servo Control-Ready [S-RDY]

The servo control ready [S-RDY] signal is issued about 2.0 seconds after the main
power is supplied.
The CPU inside the servo amplifier diagnoses itself and, if the result is correct, the
signal is issued and remains turned on until the power is shut down.
Power supply Shutdown Supply
[S-RDY]
OFF ON
About 2.0 seconds
3
3.3.3 Servo-On [S-ON]/Ready for Servo-On [RDY]
Issue this signal to turn the servomotor on and make it ready to turn. If the signal is
turned off in motor stoppage, the motor immediately free-run.
If the signal is turned off during motor rotation, the motor decelerates to stop and,
after it is stopped, the motor free-run.
After servo-on is turned on and the motor becomes ready to rotate, the ready for
servo-on [RDY] signal is turned on and the motor is in the ready-to-rotate state can
be checked.
[S-ON] OFF ON
[RDY] OFF ON
About 2 ms About 2 ms
The servo amplifier input signal can be always enabled with parameters PA3_26 to
PA3_30.
Servo-on [S-ON] turned on before power-on does not cause breakage to the servo
amplifier.
3.3.4 If the Servomotor Fails to Start

If the servomotor fails to start or unexpected indication is given, it is recommended to
undergo the procedure described in “14.6.8 Diagnosis to be Made If the Servomotor
Fails to Start” on page 14-34, using PC Loader.
122 Operation
3.3.5 Shutdown
If the power is turned off with the servo-on signal turned on, the servo amplifier
detects a low voltage alarm.
• If the DC link voltage drops below about 200 V and the power is restored
within one second with the servo-on signal being turned on, the main power
undervoltage is detected. If the duration exceeds one second, the main power
undervoltage is not detected.
Even if the main power undervoltage alarm is detected, there is no effect on the
servo amplifier.
However, do not repeat to turn the power on or off to start or stop the servomotor.
Repetitive power-on and shutdown will cause breakage to the servo amplifier.
If the operation command is turned off before the power is shut off, the main power
3 undervoltage is not detected.
Use the parameter PA2_67 (alarm detection at undervoltage) for determining the
detection of main power undervoltage, and PA2_63 (action sequence at main power
shutoff) for determining the stop action at main power shutoff.
If the power is shut off during operation, the servo amplifier turns off ready for servo-
on [RDY] to stop the internal CPU.
Operation 123
3.4 Operation
3.4.1 Test Operation at Keypad
Using the test operation mode of the keypad, check the motor rotation.
In case of a servomotor equipped with a brake, supply 24 VDC to release the brake.
The motor rotates even without a sequence I/O signal.
The relevant parameter settings and default values are shown below.
To enable the acceleration / deceleration time with the speed control, set the
parameter PA_36 (Acceleration / deceleration selection at speed control) to “1”
(enable).
3
Default
Parameter No. Name Setting range Change
value
PA1_37 Acceleration time 1 0.0 to 99999.9 [ms] 100.0 Always
PA1_38 Deceleration time 1 0.0 to 99999.9 [ms] 100.0 Always
PA1_41 Manual feed speed 1 0.01 to (max. speed) [r/min] 100.0 Always
 Test operation at keypad

Follow the procedure below to check that the output shaft of the servomotor rotates.
[1] Use the [MODE/ESC] key to start the test operation mode [Fn01].
[2] The servomotor rotates while the key on the keypad is held down.
SET SET
(1 sec. or over) (1 sec. or over) *1
ҍ
Fn01 JG JG OPJG
ESC ESC Ҏ *2
OPJG
*1㸞[During forward rotation ((ҍ) being pressed)] *2㸞[During reverse rotation ((Ҏ) being pressed)]
The lit bar turns in CCW direction. The lit bar turns in CW direction.
After checking shaft rotation in the test operation mode, press the [MODE/ESC] key
to return until [Fn01] is displayed again.
Unless [Fn01] is displayed again, rotation with the sequence I/O signal is impossible.
Notation of key
In this chapter, keys on the keypad may be simply specified as shown below.
• [MODE/ESC] key
In case of [MODE] function: MODE
In case of [ESC] function: ESC
• [SET/SHIFT] key
In case of [SET] function: SET (1 sec. or above)
In case of [SHIFT] function: SHIFT
124 Operation
3.4.2 Position Control (Pulse)

The shaft rotation position is controlled under position control according to the pulse
input of the servo amplifier.
The pulse operation procedure is shown below.
(2) Position control setting

(3) Position control check
(4) Pulse amount check
(1) Pulse setting
(1) Pulse setting

According to the pulse format of the host pulse generator, enter the following
parameters.
Default
value
0: Differential input, command pulse/direction
1: Differential input, forward/reverse pulse
2: Differential input, A/B phase pulse
Command pulse input
PA1_03
method and form selection 10: Open collector input, command
1 Power
pulse/direction
11: Open collector input, forward/reverse pulse
12: Open collector input, A/B phase pulse
0: Electronic gear (PA1_06/07) is enabled.
Number of command input
PA1_05 64 to 1048576 [pulses]: Number of command 0 Power
pulses per revolution
input pulses per revolution is enabled.
Numerator 0 of electronic
PA1_06 1 to 4194304 16 Always
gear ratio
Denominator of electronic
PA1_07 1 to 4194304 1 Always
gear ratio
• To assign 4000 pulses per revolution of the servomotor

PA1_05 = 4000
• To connect a 5 mm ball screw directly and change the per-pulse mechanical
system traveling amount to 0.001 mm (18 bits)
Because (5/262144)×(PA1_06/PA1_07) = 1/1000
PA1_05=0, PA1_06=32768, PA1_07 = 625
Operation 125
(2) Position control setting

The factory shipment settings of the VV type servo amplifier are as follows.
• Assignment of input terminal (CONT input signal)
CONT1: Servo-on [S-ON] (Function No. 1)
CONT2: Alarm reset [RST] (Function No. 11)
CONT3 to CONT24: (No designation)
• Parameter PA1_01: Control mode selection = 0 (position control)
Therefore the power-on state is the position control mode.
CONT1: Turn on servo-on [S-ON] and supply a pulse to turn the motor.
(3) Confirmation of position control

Confirm the position control mode. The third character “P” from the left indicates
position control.
3
SET
(1 sec. or over)
Sn01 ESC TpoF

(4) Confirmation of pulse amount
Issue a pulse from the host controller. Check that the count agrees with that of the
servo amplifier.
SET
(1 sec. or over)
on12 ESC 01
SHIFT
0000
SHIFT
0000
The display example for 100000000-pulse is shown.
• With A/B phase pulse, four times the pulse count is displayed.
126 Operation
3.4.3 Speed Control

The shaft rotation speed is controlled in the speed control mode according to the
speed command voltage input [VREF] of the servo amplifier or parameter setting.
If parameter PA1_01 is set at “1,” the speed control mode starts after the RDY signal
is turned on.
While the manual forward command [FWD] or manual reverse command [REV]
signal is turned on, the motor accelerates and turns at a constant speed, and
deceleration starts when the signal is turned off.
Use the ACC (14) input signal to switch the acceleration/deceleration time.
The acceleration/deceleration time follows the parameter setting.
The rotation speed follows the X1 (51), X2 (52) and X3 (53) input signals or speed
command voltage [VREF].
3 In the below chart, the operation is executed with the speed corresponding to VREF.
First when the X1 signal is turned on, the operation is executed with the speed
corresponding to the X1 signal (rotation speed setting in PA1_41).
Then the operation decelerates and stops after turning the FWD signal off.
Speed
ON
[RDY]
Zero speed ON OFF
Manual forward command OFF ON

[FWD]
Multi-step speed [X1] OFF ON
VREF voltage Applied
Use parameter PA3_35 to specify the zero clamp level in relation to the [VREF]
input.
The following signal is active in the speed control mode.

• Zero speed
The signal is turned on if the feedback speed of the motor (present shaft rotation
speed of motor) falls below a certain value.
Operation 127
3.4.4 Torque Control

The shaft output torque is controlled under the torque control according to torque
command voltage input [TREF] of the servo amplifier or a parameter setting.
If parameter PA1_01 is set at “2,” the torque control mode starts after the RDY signal
is turned on.
The torque is output while the manual forward command [FWD] or manual reverse
command [REV] signal is turned on, while the torque is reduced to zero after the
signal is turned off.
Torque setting filter

Torque
3
[RDY] ON
Manual forward OFF ON

command [FWD]
TREF voltage Applied
Use parameter PA1_60 to specify the torque setting filter.

The maximum motor rotation speed can be controlled.
Default
No. Name Setting Change
value
0: Parameter (PA1_26)
Speed limit selection
PA2_56 1: As per multi-step speed selection incl. 0 Power
at torque control
VREF terminal voltage
• The speeds corresponding to multi-step speed selection (X3, X2 and X1) are
given with PA1_41 to PA1_47, or [VREF] terminal.
• Because the speed control is not performed, the actual speed limit level is
different.
128 Operation
3.4.5 Mode Selection

The operation control mode can be changed with parameter settings shown below
and control mode switching signal.
PA1_01:Control mode Control mode (function No.36)

selection Control mode selection=OFF Control mode selection=ON
The operation pattern with “5” specified in PA1_01 (speed control ⇔ torque control)
is shown below.
3 The command is issued by the voltage input of VREF and TREF.
Forcible push against the

mechanical system
Speed
[RDY] ON
Zero speed ON OFF
Control mode OFF ON

selection
Speed control Torque control
To forcibly push against the mechanical system as shown in the figure above, torque
limit should be adopted with a pushing material or the like.
For the torque control, refer to Section 3.4.4.
No control mode switching condition is provided. It can be switched at any time.
When the control mode is “6” (extension mode), the control mode is activated when
the zero speed signal is turned on.
Operation 129
3.4.6 Extension Mode

Compatible mode with standard type of FALDIC-α Series
If parameter PA1_01 is “6,” operation is made with control signal inputs similar to
those of the α Series.
If the pulse operation is performed, pulses are active while “position control” and
“pulse ratio 1 (2)” are turned on.
[S-ON] OFF ON

[RDY] OFF ON

About 2 ms About 2 ms
3
Position control ON
Pulse ratio 1 ON
Input
Disable Pulse enable Disable
enable/disable
 Command pulse multiplication (PA1_01 = 0)

Numerator 0 of electronic gear (PA1_06), numerator 1 of electronic gear
(PA2_51), numerator 2 of electronic gear (PA2_52) or numerator 3 of electronic
gear (PA2_53) with an input signal can be selected.
 Position control
The following signals are enabled in the position control mode.
• Zero deviation
The difference between the command position (pulse input) and feedback
position (present motor position) is the deviation. The signal is turned on if the
present deviation is below a certain value. You can check that the motor has
reached the command position.
• Zero speed
The signal is turned on if the feedback speed of the motor (present shaft
rotation speed of motor) is below a certain value.
• In-position
Parameter PA1_34 to switch between level output and single-shot output can
be used. The level output is the same as the zero deviation signal, The single-
shot output is turned on for a certain time after the zero deviation signal is
turned on.
130 Operation
Speed
Zero deviation ON OFF
Zero speed ON OFF
In-position ON OFF

(level)

3
In-position OFF ON
(single shot)
PA1_34
The single-shot output is forcibly turned off if the zero deviation signal is turned off.
• Deviation clear
The difference between the command position (pulse input) and feedback
position (present motor position) is the deviation.
Issue a deviation clear signal to zero the internal deviation. The command
position becomes the same as the feedback position.
Deviation clear is always effective and active even during rotation.
Either edge or level can be selected with parameter PA3_36 to switch the input
format of the deviation clear signal.
Because the deviation is forcibly zeroed, the motor is stopped.
To perform homing and interrupt positioning, select the extension mode. For details,
refer to the following pages.
Operation 131
3.4.7 Homing
When in-position [INP] is turned on, activation of the homing command [ORG] starts
a homing motion.
Enter parameters PA2_06 through 18 and 24 to configure the homing pattern.
Speed Homing speed
Homing
creeping speed
Shift amount for
homing
Time
[RDY] ON
[INP] ON OFF ON

Home position
LS detection OFF ON OFF 3
Homing completion OFF ON
[ORG] OFF ON OFF
[LS] OFF ON OFF
Encoder Z-phase OFF OFF

ON
For details of the homing pattern settings, refer to “CHAPTER 4 PARAMETER.”

The homing motion can be interrupted with forced stop [EMG].
The in-position [INP] signal shown in the figure assumes the level output mode.
If positioning completion single shot output is selected at the parameter PA1_33, check for
stoppage with an external circuit before executing operation.
3.4.8 Interrupt Positioning

Turn interrupt input enable signal on during operation with a forward [FWD] or
reverse [REV] command to start to move by an interrupt traveling unit amount, which
is specified at parameter PA2_20, at the activating edge (OFF-to-ON transition) of
the interrupt input.
The function is enabled in the operation with positioning data.
(1) Position control, FWD/REV operation
132 Operation
(1) Position control, FWD/REV operation
Interrupting traveling unit amount (PA2-20)

Speed
Time
[RDY] ON
[INP] ON OFF ON OFF
[FWD] OFF ON OFF ON
[X3, X2, X1] [ON, OFF, OFF]

Interrupt input enable OFF ON
3 Interrupt input OFF ON OFF ON OFF
Disabled
Interrupt positioning detection ON
OFF
(2) Positioning data operation
Interrupting traveling
Speed ㏷ PA2_20
unit amount (PA2-20)
ᗐ ๪㎰⛛ິ㔖
Time
Start positioning
OFF ON OFF ON
AD㸨㹳AD0
Interrupt input enable ON

OFF
Disabled
Interrupt input OFF ON OFF ON OFF
In-position
ON OFF ON OFF
Interrupt positioning detection ON

OFF
(1) After the interrupt input enable signal is turned on, the activating edge
(OFF-to-ON transition) of the first interrupt input is enabled.
(2) Allocate the interrupt input to the CN1 terminal of CONT1 to 5.
Generally, the sequence input and output signals are recognized in about
1 to 2 ms by the software, however, the interrupt input detects the signals by the
hardware. Therefore, delay in signal detection (about 0.05 ms) occurs only with
the filter circuit of CONT1 to 5.
(3) The in-position [INP] signal shown in the figure assumes the level output mode.
Operation 133
3.4.9 Torque Limit

Torque limit is always enabled in the position control, speed control and torque
control mode.
If the torque is limited under position or speed control, the designated position or
designated speed may not be achieved.
This function is enabled during positioning data operation.
(1) Position/Speed control
The following limits can be set through combination of the “torque limit 0” and
“torque limit 1” sequence inputs.
OFF OFF Value set at PA1_27 and PA1_28

Smaller value between torque command voltage [TREF] and
3
OFF ON
PA1_27 (PA1_28)
ON OFF Smaller value between PA1_27 (PA1_28) and PA2_58
Smaller value between torque command voltage [TREF] and
ON ON
PA2_58
If neither “torque limit 0” nor “torque limit 1” is used, PA1_27 and PA1_28 are
enabled.
(2) Torque control
Forward rotation torque limit PA1_27 and reverse rotation torque limit PA1_28
are always enabled under torque control.
The output torque is in proportion to the voltage applied at the torque command
voltage [TREF] terminal.
(3) Forced stop
The torque limit in forced stop follows parameter PA2_60.
134 Operation
3.4.10 Positioning Data Operation

Enter “1” to parameter PA2_40 (internal positioning data selection) to perform
positioning data operation. PTP (point-to-point) positioning operation is made
according to Di/Do signals or commands sent via RS-485 communications.
When in-position [INP] is active, enter the desired positioning address (AD0 to AD3)
and turn start positioning [START] on (activating edge) to execute positioning.
The positioning data can be registered with the PC Loader or keypad (front panel of
amplifier) or through teaching. To enable positioning data operation, you can allocate
“77” (positioning data selection) to a CONT signal and turn the signal on.
For details, refer to “CHAPTER 12 POSITIONING DATA.”
Speed
3 Stand still timer Stand still timer
Positioning data Positioning data
No.7 No.15
Time
[RDY] ON
[INP] ON OFF ON ON

M code output FF 7 15
Positioning
address 7 15
[START] OFF ON OFF ON OFF

Operation 135
3.4.11 Immediate Value Data Operation

To enable operation with immediate value data, enter “0” to parameter PA2_40
(internal positioning data selection), or enter “1” to that parameter and “3” (immediate
value data operation) to parameter PA2_41 (sequential start selection). Point-to-
point (PTP) positioning operation is made according to commands sent via RS-485
communications. When In-position [INP] is active, enter desired positioning data and
so on and turn start positioning [START] on (activating edge) to execute positioning.
To enable immediate value data operation, you can allocate “77” (positioning data
selection) to a CONT signal and turn the signal off. Use the Modbus-RTU protocol.
(Immediate value data operation is impossible with the PC Loader protocol.)
For details, refer to “CHAPTER 13 RS-485 COMMUNICATIONS”
3
Speed
Immediate value data 1 Immediate value data 2

Time
[RDY] ON
[INP] ON OFF ON ON
M code output FF 1 2
Immediate value data Immediate value data 1 Immediate value data 2
[START] OFF ON OFF ON OFF
To perform immediate value data operation with the Modbus-RTU protocol in a system
consisting of two or more servo system axes, you can use broadcasting to start multiple
axes simultaneously, so that pseudo interpolation operation is realized.
136 Operation
3.4.12 Interrupting/Stopping Operation

The following input signals interrupt or stop each operation.
• Servo-on [S-ON]
• +OT/-OT
• Forced stop [EMG]
• Pause
• Positioning cancel
• Deviation clear
• Free-run
(1) Servo-on [S-ON]

If servo-on [S-ON] is turned off during motor rotation, operation is stopped and
the motor is stopped according to the setting of parameter PA2_61 (action
3 sequence at servo-on OFF). If immediate deceleration is selected, deceleration
is made at the torque specified in parameter PA2_60 (third torque limit).
Speed
Time
[RDY] ON OFF
[INP] OFF ON
Zero deviation OFF ON
Zero speed OFF ON
[S-ON] ON OFF
(1) If “free-run at deceleration” is selected at parameter PA2_61 (action sequence at

servo-on OFF), the motor coasts for a while due to inertia.
(2) The in-position [INP] signal shown in the figure indicates the state in the level
output mode.
(3) If the forward rotation torque limit (parameter PA1_27) or reverse rotation torque
limit (PA1_28) is smaller than the third torque limit (parameter PA2_60), the
torque settings of the forward torque limit and reverse torque limit are effective.
(2) +OT/-OT / positive software OT / negative software OT

If +OT or -OT is detected during motor rotation (inactive due to normally closed
contacts) or positive software OT or negative software OT is detected, operation
is stopped and immediate controlled stop is caused according to the torque
specified in parameter PA2_60 (third torque limit).
Operation 137
When +OT is detected with hardware: When +OT is detected with software:
Automatic operation setting parameter
Positive Software OT detection position
(PA2_26)
Speed Speed
PA2_60 PA2_60
Time Time
[RDY] ON [RDY] ON
[INP] OFF ON [INP] OFF ON

Zero deviation OFF ON Zero deviation OFF ON
Zero speed OFF ON Zero speed OFF ON
OT detection OFF ON OT detection OFF ON
+OT detection OFF ON +OT detection OFF ON 3

+OT ON OFF
(1) OT detection, +OT detection and -OT detection do not turn on if OT detection at
homing is reverse. In addition, deceleration follows the setting of parameter
PA2_18 (selection of operation at OT during homing).
output mode.
(3) If the forward torque limit (parameter PA1_27) or reverse torque limit (PA1_28) is
smaller than the third torque limit (parameter PA2_60), the torque settings of the
forward torque limit and reverse torque limit are effective.
(3) Forced stop [EMG]

If forced stop [EMG] is detected during motor rotation, operation is stopped
and immediate controlled stop is caused according to the torque specified in
parameter PA2_60 (third torque limit). While forced stop [EMG] is detected, the
motor is stopped at the zero speed and the current position is not retained.
138 Operation
Speed
PA2_60
Time
[RDY] ON OFF
[INP] OFF ON
Zero speed OFF ON

Forced stop
OFF ON
detection
Forced stop [EMG] ON OFF
(CONT1 to 5)
3 (1) Forced stop [EMG] is a normally closed contact signal if it is allocated to CONT 1
to 5 signals.
output mode.
(3) If the forward torque limit (parameter PA1_27) or reverse torque limit (PA1_28) is
smaller than the third torque limit (parameter PA2_60), the torque settings of the
forward rotation torque limit and reverse rotation torque limit are effective.
(4) Pause
If the pause signal is turned on during homing, interrupt positioning, positioning
data operation or immediate value data operation, operation is interrupted and
the motor is stopped while the signal remains turned on. After the signal is turned
off, the operation continues. In-position [INP] is not turned on in a pause.
Speed
Time
[RDY] ON
[INP] OFF ON
Zero deviation OFF ON OFF ON
Zero speed OFF ON OFF ON
Pause OFF ON OFF
(1) Acceleration/deceleration follows the settings of parameters PA1_37 through 40

and the state of input signal ACC0, or the settings of acceleration/deceleration
time data.
output mode.
Operation 139
(5) Positioning cancel

If the positioning cancel signal is turned on during motor rotation, operation is
stopped and controlled stop is caused according to the deceleration time setting.
While the positioning cancel signal remains active, homing, interrupt positioning,
positioning data operation or immediate value data operation does not start.
The signal is enabled for speed operation and pulse operation.
Speed
Time
[RDY] ON
[INP] OFF ON

3
Zero speed OFF ON
Positioning cancel OFF ON
(1) Acceleration/deceleration follows the settings of parameters PA1_37 through 40

and the state of input signal ACC0, or the settings of acceleration/deceleration
time data.
(6) Deviation clear

If the deviation clear signal is detected during motor rotation, operation is
stopped and immediate controlled stop is caused according to the selected
torque limit. (The maximum torque is assumed if parameter setting is selected
with the default setting). If “1” (level signal) is selected for parameter PA3_36
(deviation clear input form), the motor is stopped at the zero speed and the
current position is not retained while the deviation reset signal remains active.
Speed
Time
[RDY] ON
[INP] OFF ON
Zero speed OFF ON
Deviation clear OFF ON
The in-position [INP] signal shown in the figure indicates the state in the level output
mode.
140 Operation
(7) Free-run
While the free-run signal is turned on, outputs of the servo amplifier are turned
off and the servomotor coasts to stop (at zero torque). (The motor rotation is not
controlled.) If the free-run signal is turned on during motor rotation, operation is
stopped and the motor keeps rotating due to the inertia of the load.
Speed
Time
[RDY] ON OFF ON
[INP] OFF ON
3 Zero speed OFF ON
Free-run OFF ON OFF
In regular cases, free-run is not used for vertical traveling machines. If the function is
used for a vertical traveling machine, examine adaptability with the brake carefully.
In addition to operation stop and interruption caused by input signals, detection

of an alarm causes the operation to be stopped. The stopping motion upon an
alarm follows the setting of parameter PA2_62 (serious alarms: fixed at free-run).
(8) Positive limiter detection / negative limiter detection

If the target position is set with overshooting positive/negative limiter detection
value, operation is canceled before reaching to the target positon and stopped at
positive/negative limiter detection position.
Limiter detection signals are turned on after the stopping.
Speed
Positioning setting parameter
Positive limit detection position (PA2_28)
Time
[RDY] ON
[INP] OFF ON
Zero speed OFF ON
Limiter detection OFF ON
(1) Acceleration/deceleration follows the settings of parameters PA1_38 and 40 and

the state of input signal ACC0, or the setting of deceleration time data.
(2) During pulse operation, the motor is stopped at the limiter detecting position
when the pulse input position reaches the limiter detecting position. The stopping
motion follows the torque limit specified in a parameter.
output mode.
Parameter 141
4
4.1 Parameter Division
CAUTION
• Never add an extreme change to parameters. Otherwise machine motion will become
unstable.
Risk of injuries
Parameters of the BSDS servo amplifiers are divided into the following setting items
according to the function.
Ref.
Parameter setting item Major description
page
Basic parameters Be sure to check or enter these parameters
4-2
(No.PA1_01 to 50) before starting operation.
Control gain and filter setting parameter Use to adjust the gain manually.
4-26
(No.PA1_51 to 99)
Automatic operation setting parameter Use to enter or change the positioning
4-37
(No.PA2_01 to 50) operation speed and homing function.
Extended function setting parameter Use to enter or change the extended
4-75
(No.PA2_51 to 99) functions such as the torque limit.
Input terminal function setting parameter Use to enter or change input signals of the
4-89
(No.PA3_01 to 50) servo amplifier.
Output terminal function setting Use to enter or change output signals of the
parameter servo amplifier. 4-95
(No.PA3_51 to 99)
142 Parameter
4.2 Basic Parameters

Parameters marked "" in the "Power" field are enabled after the power is turned off
then turned on again. (Check that the display (7-segment display) on the servo amplifier
is unlit when the power is turned off.)
4.2.1 List (PA1_)

Control mode Record of
No.
Name Default value Power reference
PA1_ Position Speed Torque value
01 Control mode selection 0
02 INC/ABS system selection 0
Command pulse input method and form
03 1 - -
selection
04 Rotation direction selection 0
Number of command input pulses per
05 0 - -
revolution
4 06 Numerator 0 of electronic gear 16 -

- -
07 Denominator of electronic gear 1 - - -
08 Number of output pulses per revolution 2048
Parameter 143

No.
Denominator of electric gear for output
10 pulses 16
Output pulse phase selection at CCW
11 rotation 0
12 Z-phase position offset 0

13 Tuning mode selection 10 - -
14 Load inertia ratio 1.0 - -
15 Auto tuning gain 1 12 - -
16 Auto tuning gain 2 4 - - -
20 Easy tuning: stroke setting 2.00 -
21 Easy tuning: speed setting 500.00 -
22 Easy tuning: timer setting 1.500 -
23 Easy tuning: direction selection 0 -
Max. rotation speed 6000.00
25 (for position and speed control) 㸝BSMS - -
750 W or
less㸞
Max. rotation speed 2500.00
4
26 (for torque control) (BSMS - - -
1 kW or more)
27 Forward rotation torque limit 300 -
28 Reverse rotation torque limit 300 -
29 Speed coincidence range 50 - -
30 Zero speed range 50 -
31 Deviation unit selection 0 - - -
32 Zero deviation range/In-position range 100 - - -
33 In-position output format 0 - -
In-position minimum OFF time/ Single shot
34 ON time 20 - - -
35 In-position judgment time 0 - - -
Acceleration / deceleration selection at
36 speed control 0 - -
37 Acceleration time 1 100.0

38 Deceleration time 1 100.0
-
Manual feed speed 1 for position and speed control/
41 speed limit 1 for torque control
100.00
500.00
1000.00
100.00 -
100.00
100.00
100.00
Parameters marked “” in the table are enabled in the corresponding control mode.
144 Parameter
4.2.2 Description of Each Parameter

PA1_01 Control mode selection
Default
value
0: Position 1: Speed 2: Torque
Control mode 3: Position ⇔ speed 4: Position ⇔ torque
01 0 Power
selection 5: Speed ⇔ torque 6: Extension mode
7: Positioning operation
Specify the desired control mode in the parameter with a value.

To switch during operation, change over the control mode selection of the CONT
input signal.
For details, refer to the table below.
Control mode
Reference value of PA1_01
4 (control mode selection) Control mode selection =

OFF
Control mode selection =
ON
0 Position control
1 Speed control
2 Torque control
6 Extension mode
7 Positioning operation mode
(1) If PA1_01 (control mode selection) is between 0 and 5

Change over the control mode selection (sequence input signal) to change the
control mode even during operation.
Position control can be made only during pulse operation and homing.
For the transition of the control mode, see the figure below.
Pulse operation, Homing
㻳㼒㼖㼌㼗㼌㼒㼑㻃㼆㼒㼑㼗㼕㼒㼏
Control mode switch If the reference value is Control mode switch
䟺36䟻䠌ON/OFF between 3 and 5, you can 䟺36䟻䠌ON/OFF
use CONT to switch even
during operation.
㻶㼓㼈㼈㼇㻃㼆㼒㼑㼗㼕㼒㼏㻷㼒㼕㼔㼘㼈㻃㼆㼒㼑㼗㼕㼒㼏
Analog speed command Torque control operation

operation
Manual operation
Multi-step speed operation
Control mode switch 䟺36䟻䠌ON/OFF
Parameter 145
[Example] The operation pattern of control mode selection 3 (position ⇔ speed) is

shown in the figure below.
Speed
Manual operation Manual operation

Operation mode Pulse
(analog speed) (Multi-step speed)
Servo-on
[S-ON] OFF ON
Control mode
selection ON OFF ON OFF
Manual forward rotation

[FWD] or manual OFF ON OFF ON OFF
reverse rotation [REV]
Multi-step speed
1[X1] OFF ON OFF
4
Pulse
Analog speed
command
(2) If PA1_01 (control mode selection) is 6

This control mode is compatible with that of the existing α Series.
The power-on state is the speed control mode (see the figure below).
To perform homing and interrupt positioning, select this mode.
Speed control
Free run
Under speed control
(no driving force) Position control
Servo (1)
ON OFF Pulse positioning
Forced stop (10)
Forward command (2)
Reverse command (3) OFF ON
OFF ON
Being stopped Command pulse ratio 1 (27)

Position control (37)
(speed control) Command pulse ratio 2 (28)
ON
Being stopped Forward command (2)
Torque control (38) OFF ON (position control) Reverse command (3)
OFF Homing (5)
Being stopped Interrupt input enable (48)
(torque control) Interrupt input (49)
Forward command (2)

Reverse command (3)
OFF ON
ON OFF
Torque control
Manual feed
Under torque control

Homing
Interrupt positioning
146 Parameter
(3) If PA1_01 (positioning operation mode selection) is “7”

Positioning (positioning data operation, immediate value data operation and
homing) can be made. The position control mode is selected immediately after
the power is turned on (see the figure below).
Speed control
Free run
Under speed control
(no driving force) Position control
Servo (1)
ON OFF Pulse positioning
Forced stop (10)
Forward command (2)
Reverse command (3) OFF ON
OFF ON
Being stopped Position control (37) Command pulse ratio 1 (27)

(speed control) Command pulse ratio 2 (28)
ON
Being stopped Forward command (2)
Torque control (38) OFF ON (position control) Reverse command (3)
OFF Homing (5)
Being stopped Interrupt input enable (48)
(torque control) Interrupt input (49)
Forward command (2)

Reverse command (3)
OFF ON OFF ON
4 Torque control
ON OFF
Manual feed
Under torque control Positioning

Homing
PA1_02 INC/ABS system selection
Default
value
INC/ABS selection 0: Incremental system 1: Absolute system
02 2: Non-overflow absolute system (not detect the 0 Power
multi-turn overflow)
Select either the relative position (incremental) system or absolute position system.
Reference Function Description
value
Relative position The current position is lost after the power is turned off.
0
(incremental) system Homing must be performed again.
The current position is stored in memory even after the
power is turned off. Homing is unnecessary. You can
Absolute position operate in the limited range. If the operation range is
1
system exceeded, an alarm and stoppage are caused.
(Operation range: between -32767 and +32766 revolutions
of motor shaft)
The current position is stored in memory even after the
power is turned off. Homing is unnecessary.
Non-overflow absolute Because there is no limit in the operation range, this
system system is best for the control of the rotating body. (The
2
(not detect the multi-turn data over flow alarm is not detected.)
multi-turn overflow) Multi-rotation data should be processed at the host
controller suitably.
Specify so that the ratio of PA1_06 to 07 = 2n/1.
Parameter 147
To establish an absolute position system, set this parameter at “1” or “2.” In addition,
install the optional absolute backup battery.
Because a multi-turn data over flow alarm (dL1 alarm) is detected when the power is
turned on, perform position presetting to remove the alarm and start operation.
• To use in an absolute position system, refer to “CHAPTER 11 ABSOLUTE
POSITION SYSTEM.”
 Notes for setting the endless absolute system

<Notes regarding settings>
1) Set the electronic gear so that it obtains: PA1_06/07 = 2 n (n ≥ 2)
The absolute system encode works as a 34-bit ring counter consisting of 18-bit
single-turn counter and 16-bit multi-turn counter. On the other hand, as the
current position output to the host device via Modbus-RTU is given a 32-bit data,
the size must be matched each other using the electronic gear setting.
2) Set the parameter PA2_25 (position command format) to “0” (normal PTP).
If set to “1” (endless), current position is reset (but the multi-turn data of the
encoder is not cleared) every time the positioning operation (positioning data
operation and immediate value operation) is started. Therefore, it will be difficult
4
to recognize the current positions from the host device.
<Notes regarding functions>
1) The following functions are disabled: hardware OT, software OT and limiter
detection.
<Notes regarding operations>
1) The positioning command range when the absolute system position command
format is selected is;
34 bits 1 34 bits 1
- -1 to -1
electronic gear* × 2 electronic gear* × 2
2) The positioning command range when the incremental system position command
format is selected is;
34 bits 34 bits
- -1 to -1
electronic gear* electronic gear*
PA1_06 (numerator of electronic gear)

*) electronic gear =
PA1_07 (denominator of electronic gear)
3) Do not apply the immediate value continuation operation.

If applied, the positioning after continuation will rely on the calculation timing if
operation is shifted to continuous motion around the time when the multi-turn
data is about to overflow.
4) Do not apply the immediate value change function.
• When using the absolute position system, refer to “CHAPTER 11 ABSOLUTE

POSITION SYSTEM.”
148 Parameter
PA1_03 Command pulse input method and form selection
Default
value
Command 0: Differential input, command pulse/direction
pulse input 1: Differential input, forward/reverse pulse
method and
03 form selection 2: Differential input, A/B phase pulse 1 Power
10: Open collector input, command pulse/direction
This parameter is enabled only under position control.

You can select the signal format of the command pulse input terminal.
The pulse format of the command pulse input terminals [CA], [*CA], [CB] and [*CB]
of the servo amplifier can be specified.
The maximum input frequency is 1.0 MHz at differential input or 200 kHz at open
collector input.
4 However, enter each signal so that the following conditions are satisfied (the same
signal conditions apply to CA, *CA, CB and *CB).
In case of A/B phase pulse, the rising or falling edge of the A-phase signal or
B-phase signal is counted as a single pulse, so that a single-pulse input is equivalent
to four pulse counts.
 Differential input, command pulse/direction (reference value of parameter

03: 0)
The command pulse indicates the rotation amount (CA, *CA), while the
command sign (CB, *CB) indicates the direction of rotation.
If (CB) is at the low level and (*CB) is at the high level, a forward direction
command is issued.
Forward rotation
ḿ㌷ᣞ௦command Reverse
㏣㌷ᣞ௦rotation command
W W W

&$ Wӌ>QVHF@

W
Wӌ>QVHF@
&$ W W
WӍ>QVHF㹒
WӍ>QVHF㹒

WӍ>QVHF@
&% W WӍ>QVHF@
Wӌ>QVHF@
&%
୕ᅒࡡ▦༰ЌЎࡢࠉࣂࣜࢪࢅࠔ㸦ࣂࣜࢪࠕ࢜ࢗࣤࢹࡌࡾࢰ࢕࣐ࣤࢡ࡚ࡌࠊ
Arrow marks "↑↓" in the figure above indicate the pulse count timing.
Parameter 149
 Open collector input, command pulse/direction (reference value of

parameter 03: 10)
The command pulse indicates the rotation amount (CA, *CA), while the
command sign (CB, *CB) indicates the direction of rotation. If (CB) is at the low
level and (*CB) is at the high level, a forward direction command is issued.
ḿ㌷ᣞ௦
Forward rotation command Reverse rotation command
㏣㌷ᣞ௦
W
&$
Wӌ>ȣVHF@
21 21 21 21 21 21 Wӌ>ȣVHF@
W W
W W W WӍ>ȣVHF㹒
W
&%
WӍ>ȣVHF㹒
21 WӍ>ȣVHF@
୕ᅒࡡ21࡛ࡢࢹࣚࣤࢩࢪࢰ21࡚ಘྒࣝ࣊ࣜ/Rࢅ⾪ࡊࡱࡌࠊ
WӍ>ȣVHF@
"ON" specified in the figure above indicates activation of the transistor, which
୕ᅒࡡ▦༰Ўࡢࠉࣂࣜࢪࢅࠔ㸦ࣂࣜࢪࠕ࢜ࢗࣤࢹࡌࡾࢰ࢕࣐ࣤࢡ࡚ࡌࠊ Wӌ>ȣVHF@
means a low signal level.
Arrow mark "Ў" in the figure above indicates the pulse count timing.
 Differential input, forward/reverse pulse (reference value of parameter 03: 1)

The forward rotation pulse (CA, *CA) indicates the rotation amount in the forward
4
direction, while the reverse rotation pulse (CB, *CB) indicates that in the reverse
direction.
Forward rotation
ḿ㌷ᣞ௦command Reverse
W W W W

&$ W
Wӌ>QVHF@
&$ Wӌ>QVHF@
WӍ>QVHF㹒
WӍ>QVHF㹒
&% WӍ>QVHF@
&%
 Open collector input, forward/reverse pulse (reference value of parameter

03: 11)
The forward rotation pulse (CA, *CA) indicates the rotation amount in the forward
direction, while the reverse rotation pulse (CB, *CB) indicates that in the reverse
direction.
Forward rotation
ḿ㌷ᣞ௦ command Reverse
W W
&$
21 21 21 Wӌ>ȣVHF@
W W W Wӌ>ȣVHF@
&% WӍ>ȣVHF㹒
21 21 21 WӍ>ȣVHF㹒
WӍ>ȣVHF@
"ON" specified in the figure above indicates activation of the transistor,
୕ᅒࡡ▦༰Ўࡢࠉࣂࣜࢪࢅࠔ㸦ࣂࣜࢪࠕ࢜ࢗࣤࢹࡌࡾࢰ࢕࣐ࣤࢡ࡚ࡌࠊ
which means a low signal level.
150 Parameter
 Differential input, A/B phase pulse (reference value of parameter 03: 2)

The A-phase signal (CA, *CA) and B-phase signal (CB, *CB) indicate the
direction of rotation and rotation amount, respectively. Each edge of the A-phase
and B-phase signals corresponds to one pulse. (It is four-fold frequency in the
amplifier.)
Forward rotation command

ḿ㌷ᣞ௦ Reverse rotation command
㏣㌷ᣞ௦
W W W

&$ W Wӌ>QVHF@
Wӌ>QVHF@
&$ WӍ>QVHF@
W W

WӍ>QVHF@
&% WӍ>QVHF㹒
WӍ>QVHF㹒
&%
4  Open collector input, A/B phase pulse (reference value of parameter 03: 12)
The A-phase signal (CA, *CA) and B-phase signal (CB, *CB) indicate the
direction of rotation and rotation amount, respectively. Each edge of the A-phase
and B-phase signals corresponds to one pulse. (It is four-fold frequency in the
amplifier.)
ḿ㌷ᣞ௦
Forward rotation command ㏣㌷ᣞ௦
Reverse rotation command
W
&$ Wӌ>ȣVHF@
21 21 21 21
W W W
Wӌ>ȣVHF@
W W WӍ>ȣVHF㹒
&% WӍ>ȣVHF㹒
21 21 21 21
WӍ>ȣVHF@
"ON" specified in the figure above indicates activation of the WӍ>ȣVHF@
୕ᅒࡡ▦༰Ўࡢࠉࣂࣜࢪࢅࠔ㸦ࣂࣜࢪࠕ࢜ࢗࣤࢹࡌࡾࢰ࢕࣐ࣤࢡ࡚ࡌࠊ
transistor, which means a low signal level.
PA1_04 Rotation direction selection
Default
value
Rotation direction 0: CCW rotation at forward command
04 0 Power
selection 1: CW rotation at forward command
This parameter keeps consistency between the direction of rotation of the

servomotor and the traveling direction of the machine.
In case of operation with pulse
The direction of rotation caused upon an input of a forward rotation pulse and
high level command sign or a B-phase pulse lead pulse with A / B phase pulse
becomes the forward direction, making the servomotor rotate forward.
To switch the phase of the output pulse, select the phase of counterclockwise
(CCW) rotation of the servomotor.
Parameter 151
In case of operation with speed command voltage

The direction of rotation caused by a positive speed command voltage in a
forward command (FWD) signal is the forward direction, causing the servomotor
to rotate forward.
 Forward/Reverse rotation
Forward
The servomotor rotates forward if it rotates counterclockwise rotation
(CCW:
figure on the right) when the output shaft is viewed from the front.
Clockwise rotation is reverse rotation.
PA1_05 Number of command input pulses per revolution
No. Name Setting range

Default
value
Change 4
Number of command 0: Electronic gear ( PA1_06/07) is enabled
05 input pulses per 64 to 1048576 [pluse]: Number of command 0 Power
revolution input pulses per revolution is enabled.

Enter the number of command pulses necessary to rotate the servomotor a full turn.
The setting range is 64 to 1048576 pulses. However, if the end of the model number
of the servomotor is “HB2” (18-bit encoder), the maximum value is 262144 pulses.
With the default value (“0”), the settings of PA1_06 and _07 (electronic gear
numerator and denominator) are enabled.
PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic

gear
Default
value
06 Numerator 0 of electronic gear 1 to 4194304 16 Always
07 Denominator of electronic gear 1 to 4194304 1 Always
These parameters are enabled only under position control.

With these parameters, the traveling amount of the mechanical system per each
command pulse is adjusted to a unit amount.
If parameter PA1_05 is “0,” the settings of these parameters are enabled.
152 Parameter
The following equation is used to calculate.

 Equation of numerator 0 of electronic gear and denominator of electronic gear
Cancel down so that numerator 0 divided by the denominator of the electronic
gear is an integer (4194304 or less).
(Traveling amount of mechanical system per servomotor revolution) Numerator 0 of electronic gear
× = (Unit amount) *
Number of encoder pulses * Denominator of electronic gear

* The unit amount is the machine travel amount to one command pulse. Its unit is [unit].(mm/pulse.
degree/pulse = [unit])
* The number of encoder pulses is 262144 for an 18-bit encoder or 1048576 for a 20-bit encoder.

Numerator 0 of electronic gear Number of encoder pulses
= × (Unit amount)
Denominator of electronic gear (Traveling amount of mechanical system per servomotor revolution)

 Entering from PC Loader

Use the “Mechanical settings calculation(T)” button provided at the lower part
of the parameter editing screen (PA1: Basic setting) of PC Loader to specify the
4 electronic gear simply.
Enter the specifications of the

machine to automatically
calculate the settings.
Parameters grouped according
to each mechanical
configuration helps you enter
simply.
[Example of calculation of electronic gear ratio]

To connect the ball screw (lead 10 mm) directly to the output shaft of the
servomotor and set the unit amount at 1/100, the number of encoder pulses (20
bits) is 1048576 rev.
(Traveling amount of mechanical system per servomotor revolution) Numerator 0 of electronic gear
× = (Unit amount)

1048576 pulses/rev Denominator of electronic gear

10 mm Numerator 0 of electronic gear
× = 1/100
1048576 pulses/rev Denominator of electronic gear

Numerator 0 of electronic gear 1048576 pulses/rev 131072
= 1/100 × =
Denominator of electronic gear 10 mm 125

Parameter 153
Therefore numerator 0 and denominator of the electronic gear are 131072 and 125,
respectively.
If the traveling amount of the mechanical system per 0.01 mm per pulse
servomotor revolution includes π, you can approximate
to 355/113.
The number of output pulses is irrelevant to command
pulse correction.
10 mm per 1000 pulses
A / B phase pulse in B-phase advance are output
(one full motor revolution)
according to the reference value of PA1_08 (number
of output pulses per revolution) during forward rotation of the motor shaft.
PA1_08 Number of output pulses per revolution
Default
No. Name Setting range value Change
Number of output 0: Electronic gear (PA1_06/07) is enabled.

08 pulses per
revolution
16 to 262144 [pulses]: Number of output pulses per
revolution is enabled.
2048 Power 4
Enter the number of pulses output per motor rotation from pulse output terminal
(A-phase or B-phase).
As the output format applies A/B phase pulse, the setting range is set as follows
(multiply by 4 on the host side).
20-bit motor: 16 to 262144 pulses, 18-bit motor: 16 to 65536 pulses
If the reference value is other than 0, the Z-phase output synchronizes with the
A-phase output, and an output having the same pulse width as that of the A-phase is
obtained.
With default value “0,” settings of parameters PA1_09 and _10 are followed.
PA1_09 Numerator of electric gear for output pulses
PA1_10 Denominator of electric gear for output pulses
Default
Numerator of electric gear for

09 1 to 4194304 1 Power
output pulses
Denominator of electric gear for
10 1 to 4194304 16 Power
output pulses
Specify the ratio of the output pulse per revolution of the servomotor.
If parameter PA1_08 is “0,” settings of these parameters are enabled.
Calculate according to the following equation.
• In case of an 18-bit encoder, specify “1/32” to output 2048 (65536 x 1/32) A-phase
and B-phase pulses per revolution.
• The Z-phase output is issued asynchronously to the A- and B-phases at a
constant pulse width of 125µs.
154 Parameter
Enter parameters so that PA1_09 ≤ PA1_10. If PA1_09 > PA1_10, the division ratio is 1.
PA1_11 Output pulse phase selection at CCW rotation

Default
Output pulse phase 0: B-phase pulse lead at CCW rotation

11 selection at CCW 1: A-phase pulse lead at CCW rotation 0 Power
rotation
The phase of the output pulse of the servomotor is adjusted to the traveling direction
of the machine.
Select the phase of forward rotation (CCW rotation) of the servomotor.
The pulse is output at connector CN1 (FFA, *FFA, FFB and *FFB).
If the reference value is 0
A-phase

4
B-phase
If the reference value is 1
A-phase
B-phase
PA1_12 Z-phase position offset

Default
Z-phase position 20-bit PG㸯0 to 1048575 [pulses]

12 offset 0 Power
18-bit PG㸯0 to 262143 [pulses]
The Z-phase output position shifts. The Z-phase output position shifts in the CCW
direction by the specified pulse amount. For servomotors having “HB2” at the end of
the model name (18-bit encoder), the maximum value is 262143 pulses.
This parameter is irrelevant to the rotation direction selection (parameter PA1_04).
The Z-phase used for homing is also the position that is offset with this parameter.
 Z-phase output position (20-bit encoder)

If the Z-phase position offset is 0 If the Z-phase position offset is 262144
262144 pulses
= 0.25 rev
1048576 pulses/rev
Z-phase position *
Z-phase position *
Motor shaft
Motor shaft
The Z-phase shifts 0.25
revolutions in the CCW
direction.
* The position of the key is not always the Z-phase position.
Parameter 155
The position of the key is supposed to be the Z-phase position in this explanation.
 In the case of GYB motor,at speed of 100r/min or less after the power turned
on,the output of first
Z phase will happen within 1 rotation after the motor becomes over 12-degree as
worst.
PA1_13 Tuning mode selection

Default
10: Auto tuning

11: Semi-auto tuning
12: Manual tuning
13 Tuning mode selection 10 Always
13: Interpolation operation mode
14: Trace operation mode
15: Shorter cycle time operation mode
This parameter is enabled under position and speed control.

Select the tuning method of the servo amplifier. Refer to the following description to
4
select the mode.
 Auto tuning (default value)
In this mode, the ratio of moment of inertia of the load of the machine is always
assumed inside the amplifier and the gain is automatically adjusted to the best
one. “0” is entered, too, in case of easy tuning.
 Semi-auto tuning
Use this mode if the ratio of moment of inertia of the load of the machine has
relatively large fluctuation or the ratio of moment of inertia of the load is not
estimated correctly inside the amplifier.
The gain is automatically adjusted to the best one in relation to the setting of
PA1_15 (auto tuning gain 1), PA1_16 (auto tuning gain 2), and PA1_14 (load
inertia ratio).
 Manual tuning
Use this mode if auto tuning and semi-auto tuning modes do not function
satisfactorily. Manually enter the ratio of moment of inertia of the load and
various gains.
 Interpolation operation mode
Use this mode to adjust responses of each shaft to the command during
interpolation of two or more servomotor axes of an X-Y table or similar.
In this mode, PA1_51 (moving average S-curve time) and PA1_54 (position
command response time constant) that determine the following characteristics to
commands must be entered manually.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered according to the
value of PA1_15 (auto tuning gain 1).
156 Parameter
 Trace operation mode

Use this mode to adjust responses of each shaft to the command during trace
control of two or more servomotor axes of an X-Y table or similar.
In this mode, PA1_14 (load inertia ratio) and PA1_51 (moving average S-curve
time) must be entered manually. The parameter PA1_95 is set to “0” (model
torque calculation is disabled/speed observer is disabled). PA_54 (position
command response time constant) is enabled only when PA_1_58 (feed forward
gain 1) is set to other than 0.000.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
value of PA1_15 (auto tuning gain 1).
 Shorter cycle time operation mode
Use this mode to improve tact (reduce the settling time) on a machine with high
rigidity such as a ball screw.
PA1_14 (load inertia ratio) must be entered manually.
4 values of PA1_15 (auto tuning gain 1) and PA1_16 (auto tuning gain 2).
Parameters that must be entered in each tuning mode and automatically adjusted
parameters are shown below.
Tuning mode selection

No.
Name 15:
PA1_ 10: 11: 12: 13: 14:
Shorter
Auto Semi-auto Manual Interpolation Trace
cycle time
14 Load inertia ratio -
15 Auto tuning gain 1
Moving average
51 - - -
S-curve time
Position command
54 response time - - -
constant
55 Position loop gain 1 - - - - -
56 Speed loop gain 1 - - - - -
Speed loop
57 integration time - - - - -
constant 1
Torque filter time
59 constant for position
and speed control
Model torque filter
87 time constant for
position
Position loop
88 integration time - - - - -
constant
: Items that must be entered
: The item is entered automatically or manually according to a parameter (PA1_94: torque filter setting mode).
- : Entry is unnecessary. (The item is automatically calculated inside the amplifier and the result is reflected on the parameter.)
: Entry can be made, but the setting is ineffective.
For detail description of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."
Parameter 157
PA1_14 Load inertia ratio
BSMS, 750 [W] or less:

0.0 to 300.0 [times]
14 Load inertia ratio 1.0 Always
BSMS,1 to 3kW : 0.0 to 30.0 [times]

Enter the moment of inertia of the load of the mechanical system in relation to the
motor shaft (moment of inertia of load converted to motor shaft) in a ratio to the
moment of inertia of the motor.
㻯㼒㼄㼇㻃㼌㼑㼈㼕㼗㼌㼄㻃㼒㼉㻃㼆㼒㼑㼙㼈㼕㼗㼈㼇㻃㼗㼒㻃㼐㼒㼗㼒㼕㻃㼖㼋㼄㼉㼗
Load inertia ratio =
㻬㼑㼈㼕㼗㼌㼄㻃㼒㼉㻃㼐㼒㼗㼒㼕
The parameter must be entered according to some settings of PA1_13 (tuning mode
selection).
With auto tuning, the value is automatically updated and saved in EEPROM every
10 minutes.
4
The value must be entered in the mode other than auto tuning.
 How to enter the ratio of inertia of load

(1) Entering the value monitored on display
Use the monitor mode

on14 of the display to monitor.
Enter the monitored value.

• If the value drifts, enter an average value.
If fluctuation is substantial and the ratio of the maximum to the minimum
exceeds two, adopt entry method (2).
(2) Entering the calculated value
Calculate the moment of inertia of load converted to the motor shaft and
enter the ratio to the moment of inertia of the motor. For the moment of inertia
calculation method, refer to “CHAPTER 14 APPENDICES.”
• The value is automatically calculated with the capacity selection software (visit
Fuji Electric’s home page to download).
PA1_15 Auto tuning gain 1
Default
15 Auto tuning gain 1 1 to 40 12 Always
This parameter is enabled under speed and position control.

Specify the response of the servomotor in the mode other than manual tuning.
While a larger setting shortens command following characteristic and positioning
settling time, too large a value causes vibration of the motor.
158 Parameter
 Setting method
(1) Parameter entry with PC Loader and keypad (parameter setting mode)
After the parameter is established, the setting is updated.
(2) Entry using “auto tuning gain setting (Fn11)” of keypad (test operation mode)
After the value is switched, the setting is updated at real time.
Approximate reference value
Mechanical configuration Auto tuning gain 1
(division by mechanism) (approximate reference value)
Large transfer machine 1 to 10
Arm robot 5 to 20
Belt mechanism 10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
20 to 40
ball screw
4 • For details of tuning, refer to “CHAPTER 5 SERVO ADJUSTMENT.”
Default
16 Auto tuning gain 2 1 to 12 4 Always

The parameter is enabled if PA1_13 (tuning mode selection) is 10 (auto tuning), 11
(semi-auto tuning) or 15(Shorter cycle time operation mode).
Adjust PA1_15(Auto tuning gain 1) before adjusting this parameter.
With this parameter, the positioning and settling time of auto tuning and semi-auto
tuning is reduced, so that the cycle time is effectively reduced. While a larger value
reduces the positioning and settling time, an overshoot is likely to be caused.
PA1_51 (moving average S-curve time) and PA1_54 (position command response
time constant) are automatically adjusted in relation to the reference value of this
parameter.
Parameter 159
What is positioning and settling time

Time from completion of issuance of command frequency to issuance of in-position signal
The time varies according to various conditions such as the frequency matching the traveling
distance, acceleration/deceleration rate, and stopping accuracy. Adjustment of the entire system
including the host and servo to optimum conditions is necessary to reduce the positioning and
settling time.
Frequency
[kHz]
Command
frequency
Time
Rotation speed
Motor speed
[r/min]
OFF
Settling Time
time
In-position signal ON
OFF
Time
For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."
4
PA1_20 to 23 Easy tuning settings
Default
Easy tuning:
20 0.01 to 200.00 [rev] 2.00 Always
stroke setting
Easy tuning:
21 10.00 to Max. rotation speed [r/min] 500.00 Always
speed setting
Easy tuning:
22 0.000 to 5.000 [s] 1.500 Always
timer setting
0: Forward ⇔ reverse rotation
Easy tuning:
23 1: Forward rotation only 0 Always
direction selection
2: Reverse rotation only
Enter the parameter to perform easy tuning.

• For details of tuning, refer to “CHAPTER 5 SERVO ADJUSTMENT.”
PA1_25 to 26 Max. rotation speed
Max. rotation speed BSMS,750 [W] or less 6000(BSMS of 750

25
(for position and speed control) 㸯0.01 to 6000 [r/min] [W] or less)
BSMS,1 to 3kW 2500(BSMS of 1 to 3 Always
Max. rotation speed
26 㸯0.01 to 2500 [r/min] [kW]
(for torque control)
Enter the maximum rotation speed of the servomotor for position, speed and torque
control.
There is a difference of about 100 r/min between the reference value and actual
servomotor rotation speed under torque control.
Use PA1_96 (speed limit gain for torque control) to adjust the error.
160 Parameter
PA1_27 Forward rotation torque limit, PA1_28 Reverse rotation torque limit
27 Forward rotation torque limit

0 to 300 [%] 300 Always
28 Reverse rotation torque limit
Enter the limit to be set on the output torque of the servomotor.

If the input signal (CONT signal: torque limit 0, 1, etc.) is turned off, this limit is
enabled.
For description of the input signal (such as torque limit 0 and 1), refer to “CHAPTER
3 OPERATION.”
CCW torque
Forward rotation
torque limit
CW rotation CCW rotation

4 Reverse rotation
torque limit
CW torque
PA1_29 Speed coincidence range

Default
Speed coincidence 10 to max. rotation speed [r/min]

29 50 Always
range
Enter the range in which the “speed coincidence” output signal is turned on.
The speed coincidence signal is turned on if the actual servomotor rotation speed is
nearly the command speed.
In case of a default value of 50 r/min, the speed coincidence signal is turned on in
the range of ±50 r/min to the command speed.
If the command speed is not reached due to PA1_25 (maximum rotation speed),
override or similar, the signal is turned off.
The speed coincidence signal does not turn on if the [FWD] or [REV] signal is turned off.
PA1_29: Speed coincidence width
Rotation speed
Time
Forward command [FWD]

䠡䠘䠘䠡䠠
Speed coincidence 䠡䠠䠡䠘䠘

䠡䠘䠘䠡䠠
[NARV]
Parameter 161
• For the speed coincidence signal, refer to “Speed coincidence [NARV]” on page
2-70.
PA1_30 Zero speed range

Default
30 Zero speed range 10 to max. rotation speed [r/min] 50 Always
Enter the activation level of the “zero speed” output signal.

The signal is turned on at servomotor rotation speeds within the reference value.
PA1_31 Deviation unit selection

Default
0: Unit
31 Deviation unit selection 0 Always
1: Pulse
Enter the unit of position deviation.

4
Select 0 (unit) for the unit after multiplication by the electronic gear ratio. Unit is
displayed.
Select 1 (pulse) for the unit before multiplication by the electronic gear ratio. (Unit of
encoder pulse amount)
This setting is related to the unit of all position deviation monitored with the keypad,
PC Loader or monitor 1/2 signal.
PA1_32 Zero deviation range/In-position range
Default
Zero deviation range/

32 0 to 200000 [pulses] or [units] 100 Always
In-position range
• Zero deviation range

Enter the activation level of the “zero deviation” output signal.
The signal is turned on at position deviation within the reference value.
• In-position range
Enter the deviation condition of the “in-position (INP)” output signal.
The in-position (INP) signal is turned on if position deviation is within this reference
value and the motor rotation speed is within the reference value of the “zero speed
range.”
However, the condition includes completion of pulse elimination from the inside of
the servo amplifier for motion by positioning, homing and manual position control.
• The setting unit is the one specified with PA1_31 (deviation unit selection).
162 Parameter
PA1_33 to 35 In-position output signals

Default
33 In-position output format 0: Level 1: Single shot 0 Power

In-position minimum OFF time/
34 1 to 1000 [ms] 20 Always
Single shot ON time
35 In-position judgment time 0 to 1000 [ms] 0 Always
Enter the output format, minimum OFF time / Single shot ON time and judgment
time of the in-position [INP] signal.
In-position output format: Select the format of the output signal (refer to the timing
chart shown below).
In-position minimum OFF time / Single shot ON time: For the single shot output
format, enter the time for which the output signal is turned on.
In-position judgment time: Enter the judgment time needed to recognize in-position.
4
In-position signal
The in-position signal is turned on if position deviation is within the reference value
of “zero deviation range” and the motor rotation speed is within the reference value
of “ze ro speed range” (AND condition of zero speed and zero deviation).
The output timing of this signal substantially varies according to the setting of
PA1_31 (deviation unit selection).
Check the reference value to use. Refer to the following timing chart.
Parameter 163
Timing chart

Rotation
speed
Zero speed range
Time

Deviation
Zero deviation range/In-position range
Time

Zero speed OFF ON

4
ON
Zero deviation
OFF

ON
In-position (level)
OFF

In-position judgment time

In-position OFF
OFF
(single shot)
ON
In-position minimum OFF time / Single shot ON time
PA1_36 to 40 Acceleration time and deceleration time settings
Default
Acceleration / deceleration 0: Disable

36 0 Always
selection at speed control 1: Enable
0.0 to 99999.9 [ms] Always
Specify the acceleration and deceleration of the servomotor with PA1_37 to _40
(acceleration/deceleration time).
The parameter is enabled for acceleration and deceleration motions under speed
control and position control (automatic operation, homing and manual position
control operation). Acceleration and deceleration follow these parameters during
profile operation, too.
164 Parameter
These parameters are disabled during pulse operation.

The acceleration/deceleration time setting indicates the time from 0 (zero) to 2000 r/min.
Acceleration time 2 and deceleration time 2 are enabled while the “ACC0” selection
signal remains turned on.
ACC0 can be turned on or off at any time and the acceleration time and deceleration
time are similarly changed.
ACC0 is assigned to an input signal (CONT signal). Selection follows the table
below.
The deceleration time with a load in a carrier drive mechanism can be specified
separately from that without a load.
ACC0 (14) Acceleration time Deceleration time
OFF PA1_37 PA1_38

ON PA1_39 PA1_40
4 Use PA1_36 (acceleration / deceleration selection at speed control) to select

acceleration/deceleration of speed control.
To perform position control at the host control unit and to perform speed control
at the servo system, enter “0” to PA1_36 (control method to output analog speed
command voltage at host control unit).
To perform speed control independently in the servo system, enter “1” to PA1_36 to
enable PA1_37 through PA1_40. To perform position control independently in the
servo system, PA1_37 through PA1_40 are enabled without relations to the setting
of PA1_36.
Acceleration/Deceleration with the speed limit of torque control also follows this
parameter (PA1_36: acceleration / deceleration selection at speed control).
Acceleration and deceleration occurs according to the table shown above if PA1_36
is set at “1” (enable).
If the acceleration/deceleration time data is “0” during operation with position data,
the values specified in these parameters are enabled.
Timing chart
2000 r/min
Rotation
speed
Time
Forward command OFF ON

OFF
㹐FWD㹒
PA1_37: Acceleration time 1 PA1_40: Deceleration time 2
ACC0 OFF ON

Parameter 165
PA1_41 to 47 Manual feed speed/speed limit for torque control

Default
Manual feed speed 1 for

41 position and speed control/ 100.00 Always
speed limit 1 for torque control
0.01 to
max. rotation speed [r/min]
4
Enter the speed of manual feed for speed control and position control.
For torque control, if PA2_56 (speed limit selection at torque control) is “0,” the
reference value of PA1_26 (maximum rotation speed) becomes the speed limit.
If PA2_56 (speed limit selection at torque control) is “1,” the speed limit is enabled as
shown on the next page.
Combine input signals (CONT signal: multi-step speed selection 1 [X1] to 3 [X3]) to
select.
Multi-step speed
Enabled parameter
selection
Under speed/position
X3 X2 X1 Under torque control
control *1
VREF terminal voltage VREF terminal voltage
OFF OFF OFF
(analog speed command) (analog speed limit)
OFF OFF ON 41: Manual feed speed 1 41: Speed limit 1 for torque control 1
OFF ON OFF 42: Manual feed speed 2 42: Speed limit 1 for torque control 2
OFF ON ON 43: Manual feed speed 3 43: Speed limit 1 for torque control 3
ON OFF OFF 44: Manual feed speed 4 44: Speed limit 1 for torque control 4
ON OFF ON 45: Manual feed speed 5 45: Speed limit 1 for torque control 5
ON ON OFF 46: Manual feed speed 6 46: Speed limit 1 for torque control 6
ON ON ON 47: Manual feed speed 7 47: Speed limit 1 for torque control 7
*1) Position control specified in the table above indicates the state of PA1_01 (control
mode selection) set at "6" (extension mode).
166 Parameter
4.3 Control Gain and Filter

Setting Parameter
Parameters marked "" in the "Power" field is enabled after the power is turned off then
turned on again. (Check that the display (7-segment display) on the servo amplifier is unlit
when the power is turned off.)
4.3.1 List (PA1_)

Default value: *** Determined in auto tuning.
No. Default Control mode Record of
Name Power
PA1_ value Position Speed Torque reference value
51 Moving average S-curve time *** - - -
52 Low-pass filter (for S-curve) time constant 0.0 - -
53 Command pulse smoothing function 0 - - -
4 54
55
Position command response time constant
Position loop gain 1
***
***
-
-

-
-
-
-
56 Speed loop gain 1 *** - -
57 Speed loop integration time constant 1 *** - -
58 Feed forward gain 1 0.000 - - -
Torque filter time constant for position and speed
59 *** - -
control
60 Torque filter time constant for torque control 0.00 - - -
61 Gain changing factor 1 - -
62 Gain changing level 50 - -
63 Gain changing time constant 1 - -
64 Position loop gain 2 100 - - -
65 Speed loop gain 2 100 - -
66 Speed loop integration time constant 2 100 - -
67 Feed forward gain 2 100 - - -
68 Acceleration compensation gain for position control 0 - - -
70 Automatic notch filter selection 1 - -
71 Notch filter 1, frequency 4000 - -
72 Notch filter 1, attenuation 0 - -
73 Notch filter 1, width 2 - -
74 Notch filter 2, frequency 4000 - -
75 Notch filter 2, attenuation 0 - -
76 Notch filter 2, width 2 - -
77 Automatic vibration suppression selection 0 - - -
78 Vibration suppressing anti resonance frequency 0 300.0 - - -
Vibration suppressing workpiece inertia ratio
79 0 - - -
(vibration suppressing resonance frequency) 0
81 0 - - -
83 0 - - -
Parameter 167
No. Default Control mode Record of

Name Power
PA1_ value Position Speed Torque reference value
85 0 - - -
86 Vibration suppressing damping coefficient 0.0000 - - -
87 Model torque filter time constant *** - -
88 Position loop integration time constant *** - - -
89 Position loop integration limiter 0 - - -
90 Load torque observer 0 - -
91 P/PI automatic change selection 0 - -
92 Speed range for friction compensation 10.0 - -
93 Coulomb friction torque for friction compensation 0 - -
94 Torque filter setting mode 1 - -
Model torque calculation selection, speed observer
95 3 - -
selection
96 Speed limit gain for torque control 4.0 - - -
Paremeters marked "‫ "ې‬in the table are enabled in the corresponding control mode.
4
PA1_51 to 53 Command filter settings
Default
51 Moving average S-curve time 0, 2 to 500 (×0.125 [ms]) *** Always

Low-pass filter (for S-curve) time 0.0 to 1000.0 [ms]
52 0.0 Always
constant
53 Command pulse smoothing function 0: Disable 1: Enable 0 Always
Filters can be added to commands for smoother follow-up.

This parameter is enabled under position control.
Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
Moving reduce the torque ripple caused by fluctuation of the command pulse.
average The new setting of this parameter is reflected when both the position command and
S-curve time filter accumulation pulse are "0".
If PA1_13 (tuning mode selection) is 10 (auto tuning), 11 (semi-auto tuning) or
15(shorter cycle time operation mode) automatic adjustment is made inside the
amplifier.
Low-pass Enter the low-pass filter (for S-curve) filter time constant in relation to position
filter (for commands and speed commands. Acceleration and deceleration are made so that an
S-curve) approximate S-curve is drawn.
time constant
The parameter is enabled under position control.

If the function is enabled, smoothing is added to the position command every 2 ms
Command
intervals.
pulse
A larger setting at low command pulse frequencies or large electronic gear ratios can
smoothing
reduce the torque ripple caused by fluctuation of the command pulse.
function
While the setting can be changed at any time, the new setting is reflected when both
the position command and filter accumulation pulse are "0".
168 Parameter
Function configuration block

Command pulse Moving Low-pass filter
smoothing average (for s-curve) Control
Command
function S-curve time time constant section
• For details of tuning, refer to “CHAPTER 5 SERVO ADJUSTMENT.”
PA1_54 Position command response time constant

Default
54 Position command response time constant 0.00 to 250.00 [ms] *** Always
Specify the following response characteristics to commands. A smaller setting

improves the response characteristics.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection)
is 10 (auto tuning), 11 (semi-auto tuning) or 15(shorter cycle time operation mode).
4
PA1_55 to 57 Response to disturbance settings
Default
55 Position loop gain 1 1 to 2000 [rad/s] *** Always

56 Speed loop gain 1 1 to 2000 [Hz] *** Always
57 Speed loop integration time constant 0.5 to 1000.0 [ms] *** Always
Position loop gain 1: Position disturbance response setting. A larger setting improves
the response characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the
response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed
response. A smaller setting improves the response.
Too much a response characteristic may cause vibration or noise.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection)
is other than 12 (manual tuning).
PA1_58 Feed forward gain 1

Default
58 Feed forward gain 1 0.000 to 1.500 0.000 Always
A larger setting decreases the position deviation amount, improving the response
characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero
(except during acceleration or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of
synchronous control or similar.
Parameter 169
For regular point-to-point operation, set the parameter at 0.500 or less (approximate
value).
PA1_59 Torque filter time constant for position and speed control
PA1_60 Torque filter time constant for torque control

Default
Torque filter time constant

59 for position and speed 0.00 to 20.00 [ms] *** Always
control
Torque filter time constant
60 0.00 to 20.00 [ms] 0.00 Always
for torque control
This parameter is enabled under speed and position control.

Add a filter to internal torque commands.
Torque filter
The response of the servo system is improved and resonance is suppressed. In
time constant
particular, the reference value should be larger with large load inertia.
for position and
4
Automatic adjustment is made inside the amplifier in other than the manual tuning
speed control
mode.
Set PA1_94 at 0 to allow manual settings.
Torque filter The parameter is enabled under torque control. Add a filter to external torque
time constant commands. Good effects can be expected for a system prone to electric noise or
for torque one with fluctuation in the command voltage.
control
PA1_61 to 67 Second gain settings

Default
0: Position deviation (x10)

1: Feedback speed
61 Gain changing factor 2: Command speed 1 Always
3: External switch (CONT signal
switch)
Gain changing level PA1_61=0:1 to 1000 [pulse]
62 50 Always
PA1_61=1,2:1 to 100 [r/min]
63 Gain changing time constant 0 to 100 [ms] 1 Always
64 Position loop gain 2 30 to 200 [%] 100 Always
65 Speed loop gain 2 30 to 200 [%] 100 Always
Speed loop integration time 30 to 200 [%]
66 100 Always
constant 2
67 Feed forward gain 2 30 to 200 [%] 100 Always
The gain of the servo system is switched from the first gain (PA1_55 to _58) to the
second gain (PA1_64 to _67).
Noise and vibration during stoppage can be reduced through gain switching.
Select the gain changing factor with PA1_61.
The unit of the reference value of the second gain (PA1_64 to _67) is “%.” Specify
the ratio to the first gain.
170 Parameter
[Example] If PA1_56 (speed loop gain 1) is 100 Hz and PA1_65 (speed loop gain
2) is 80%, the second gain is 80 Hz. PA1_64 (position loop gain 2) is
similar. If PA1_57 (speed loop integration time constant 1) is 20 ms and
PA1_66 (speed loop integration time constant 2) is 50%, integration time
constant 2 is 40 ms.
The timing chart of each signal is shown below.
Feedback speed
Gain changing level (PA1_62)

Time
Position loop gain Position loop gain 1 (PA1_55) Position loop gain 2 (PA1_64)
Speed loop gain Speed loop gain 1 (PA1_56) Speed loop gain 2 (PA1_65)
4 Speed loop
integration time
Speed loop integration time constant 1 (PA1_57) Speed loop integration time constant 2 (PA1_66)
Feed forward gain Feed forward gain 1 (PA1_58) Feed forward gain 2 (PA1_67)
Gain switching time constant (PA1_63)
External switch
(Servo response switch) OFF ON
If external switch is selected as a gain changing factor, changeover to the second

gain occurs during OFF-to-ON transition as shown above. In this case, you can turn
on or off at an arbitrary timing without relations to the motor motion.
The gain of the go stroke and that of the return stroke of a reciprocal motion can be
switched.
PA1_68 Acceleration compensation gain for position control
Default
Acceleration compensation gain 0 to 200 [%]

68 0 Always
for position control
Enter the following characteristics to the command.

A larger reference value reduces the position deviation caused during acceleration
or deceleration while improving following characteristic to position commands.
Too much reference value may cause vibration or noise.
Parameter 171
PA1_70 to 76 Notch filter settings
Default
Automatic notch filter 0: Disable 1: Enable
70 1 Always
selection 2: Enable (notch filter 1 only)
71 Notch filter 1, frequency 10 to 4000 [Hz] 4000 Always
72 Notch filter 1, attenuation 0 to 40 [dB] 0 Always
73 Notch filter 1, width 0 to 3 2 Always
74 Notch filter 2, frequency 10 to 4000 [Hz] 4000 Always
75 Notch filter 2, attenuation 0 to 40 [dB] 0 Always
76 Notch filter 2, width 0 to 3 2 Always
Specify to suppress resonance of the mechanical system. Up to two resonance

points can be suppressed. Select 1 (enable) for automatic notch filter selection to
adjust the notch filter automatically to the best value and suppress resonance.
Parameters automatically adjusted in this case include PA1_71 to _76. Values are
4
stored in the EEPROM every 10 minutes.
 How to set the notch filter

(1) If there is resonance in the mechanical system, a notch filter is automatically set.
If resonance is not suppressed, set PA1_70 (automatic notch filter selection) at 0
(disable) and follow the procedure below to manually adjust the notch filter.
(2) Using the servo analyze function of PC Loader, determine the resonance point of
the machine.
Resonance
point
Gain
(b) Depth
[dB]
(c) Width
Frequency [Hz] (a) Resonance frequency
(3) Enter the resonance frequency of and attenuation of the resonance point of the
machine into parameters.
(a) Resonance frequency PA1_71: Notch filter 1, frequency
(b) Depth PA1_72: Notch filter 1, attenuation *
(c) Width PA1_73: Notch filter 1, width
* Too much attenuation may undermine stability of the control. Do not enter
too much setting. (Set at 0 dB to disable the notch filter.)
172 Parameter
The notch filter is Activate the servo

The notch filter functions to
analyze function again.
added to the eliminate the resonance point.
resonance point.
Attenuation
΅⾮㔖
Width
ᗀ䛛
Frequency
࿔ἴᩐ
(4) Approximate reference value

Refer to the table below for the approximate reference value.
Frequency [Hz] 200 500 700 1000
Attenuation [dB] -5 -10 -15 -20
Width 2,3
 Setting the notch filter

4 Relation between automatic notch filter and manual notch filter
PA1_70 (automatic notch filter selection) Notch filter 1 Notch filter 2
0 Manual Manual
1 Auto Auto
2 Auto Manual
Notch filter setting at parameter change

Notch filter setting value
PA1_70 (automatic notch filter selection)
Notch filter 1 Notch filter 2
0 Ѝ 1 Cleared Cleared
1 Ѝ 0 Remained Remained
0 Ѝ 2 Cleared Remained
1 Ѝ 2 Cleared Remained
2 Ѝ 0 Remained Remained
2 Ѝ 1 Cleared Cleared
Parameter 173
PA1_77 to 86 Vibration suppressing settings

Default
value
Automatic vibration suppressing selection 0: Disable 1: Enable
77 0 Always
2: Communications setting
78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] 300.0 Always

79 0 to 80 [%] 0 Always

81 0 to 80 [%] 0 Always

83 0 to 80 [%] 0 Always

85 0 to 80 [%] 0 Always
4
86 Vibration suppressing damping coefficient 0.0000 to 0.1000 0.0000 Always
These parameters are enabled only under position control.

Use these parameters to specify the anti resonance frequency to suppress
workpiece vibration (vibration control).
Set at 300.0 Hz (factory shipment setting) to disable vibration suppressing control
function.
Set PA1_77 (automatic vibration suppressing selection) at 1 (enable) to repeat
starting and stopping the motor multiple times while automatically detecting the anti
resonance frequency of the machine and adjusting PA1_78 (vibration suppressing
anti resonance frequency 0) to the best value.
To use this function, always reserve 1.5 s or longer stopping time.
Use vibration suppressing workpiece inertia ratio (vibration suppressing resonance
frequency) 0 to enter the ratio of a vibrating inertial body such as the arm to the
inertia of the entire system.
The enabled parameter is selected through the CONT input signal as shown in the
following table.
The RS-485 communications setting is enabled if the parameter PA1_77 (automatic
vibration suppressing selection) is set at 2 (communications setting).
Anti resonance Anti resonance Enabled vibration suppressing Enabled vibration suppressing
frequency 1 frequency 0 anti resonance frequency workpiece inertia ratio
OFF OFF PA1_78 PA1_79
OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83
ON ON PA1_84 PA1_85
For details of vibration suppressing control, refer to Section 5.10 “Special Adjustment
(Vibration Suppressing Control).”
174 Parameter
PA1_87 Model torque filter time constant

Default
87 Model torque filter time constant 0.00 to 20.00 [ms] *** Always
Specify the feed forward control filter time constant of the torque for a model of
inertia moment. Automatic adjustment is made inside the amplifier in other than the
manual tuning mode.
This function is not used when PA1_13 (tuning mode selection) is set to “14” (trace
operationi mode).
PA1_88 and 89 Position loop integration time constant, position loop

integration limiter
Default
Position loop integration time

88 1.0 to 1000.0 [ms] *** Always
4 constant
89 Position loop integration limiter 0 to Max. rotation speed [r/min] 0 Always
Use to improve interpolation accuracy of axes when interpolating two or more

servomotor axes of an X-Y table or similar.
PA1_88 (position loop integration time constant) is automatically adjusted inside the
amplifier in other than the manual tuning mode.
The position loop integration time constant is disabled if PA1_89 (position loop
integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position
loop integration time constant ≥ Speed loop integration time constant x 5
PA1_90 Load torque observer

Default
90 Load torque observer 0: Disable 1: Enable 0 Always
Set at 1 (enable) to suppress effects of load disturbance torque and improve speed
fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load
torque such as friction.
PA1_91 P/PI automatic change selection

Default
91 P/PI automatic change selection 0: Disable 1: Enable 0 Always
The speed adjuster switches to P (proportional) or PI (proportional + integral)

control.
Parameter 175
Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain

changing factor).
The switching level follows the reference value of PA1_62 (gain changing level).
The state at switching is shown below.
PA1_61: Gain changing factor Condition State
Position deviation, feedback speed Reference value level or over P control

Command frequency, command
speed Reference value level or less PI control
External signal switch ON Pl control

(CONT signal switch)
OFF P control
To apply the brake from an external unit, arrange the P control state.
PA1_92 and 93 Friction compensation settings

Default
4
92 Speed range for friction compensation 0.1 to 20.0 [r/min] 10.0 Always
Coulomb friction torque for friction 0 to 50 [%]
93 0 Always
compensation
Specify in a system with reversing speeds if smooth reversing motions are not
obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these
parameters.
Set PA1_92 (speed range for friction compensation) at about 1.0 to 10.0 r/min.
Set PA1_93 (Coulomb friction torque for friction compensation) at the torque
equivalent to dynamic friction (Coulomb friction).
Friction compensation is disabled if the friction compensation torque reference value
is 0.
PA1_94 Torque filter setting mode
Default
Setting
PA1_59 PA1_87
value
Do not set Set
0
automatically. automatically.
Set Set
94 Torque filter setting mode 1
automatically. automatically. 1 Always
Do not set Do not set
2
Set Do not set
3

Select either to set PA1_59 (torque filter time constant) and PA1_87 (model torque
filter time constant) automaticall or not in other than the manual tuning mode.
176 Parameter
Select “do not set automatically” to manually specify PA1_59 (torque filter time
constant) and PA1_87 (model torque filter time constant) regardless of the setting of
PA1_13 (tuning mode selection).
When “set automatically” is selected, the parameter is automatically adjusted in the
amplifier in other than the manual tuning mode.
The setting of PA1_87 (model torque filter time constant) becomes invalid when
PA1_13 (tuning mode selection) is set to “14” (trace operation motion).
PA1_95 Model torque calculation and speed observer selection

Default
Setting Model torque Speed observer

calculation
Model torque 0 Disable Disable
95 calculation and speed 1 Enable Disable 3 Always
observer selection 2 Disable Enable
3 Enable Enable
4
Select whether model torque calculation and speed observer are enabled or
disabled.
If model torque calculation is disabled, the torque feed forward calculation using a
model of moment of inertia of load is disabled.
Use the parameter to perform position and speed control at the host controller.
Select “enable” for speed observer during regular operation. Speed compensation is
made and stability is improved.
Parameters related to response of the control system are automatically adjusted
according to the setting of auto tuning 1 or 2. However, the function of PA1_54
(position command response time constant) is canceled internally.
PA1_96 Speed limit gain for torque control
Default
96 Speed limit gain for torque control 0.0 to 50.0 4.0 Always
This parameter is enabled under torque control.

If the rotation speed exceeds the reference value of PA1_26 (maximum rotation
speed (for torque control)) under torque control, the command torque is reduced
so that the rotation speed becomes near the reference value. At this time, an
error is caused in the rotation speed in relation to the reference value. Take into
consideration that the parameter adjusts the error. While a larger reference value
decreases the error, excessive value will cause instability.
Parameter 177
4.4 Automatic Operation

Setting Parameter
Parameters marked "" in the "Power" field are enabled after the power is turned off then
4.4.1 List (PA2_)

No.
PA2_
Position Speed Torque value
Decimal point position of
01 positioning data 0 -
06 Homing speed 500.00 - - -

07 Creep speed for homing
08 Starting direction for homing
50.00
0
-

-
-
-
-
4
Reverse traveling unit amount for
09 0 - - -
homing
Homing direction after reference
10 0 - -
signal detection
11 Reference signal for shift operation 1 - -
Reference signal for homing
12 0 - -
(Deceleration starting signal)
Home position LS signal edge
13 0 - -
selection
14 Home position shift unit amount 1000 - - -
Deceleration operation for creep
15 0 - -
speed
Home position after homing
16 0 - - -
completion
17 Home position detection range 0 - -
Deceleration time at OT during
18 100.0 - - -
homing
19 Preset position 0 - - -
20 Interrupt traveling unit amount 100000 - - -
22 Detection time for contact-stopper 0 - ‫ې‬ - -
23 Torque limit for contact-stopper 0 - ‫ې‬ - -
Selection of operation at OT
24 0
detection during homing
Software OT selection (PA1_01=1
25 to 6) / Positioning operation type 0 -
(PA1_01=7)
Positive software OT detection
26 2000000000 - -
position
Negative software OT detection
27 -2000000000 - -
position
28 Positive limiter detection time 2000000000 - ‫ې‬ - -
29 Negative limiter detection time -2000000000 - ‫ې‬ - -
31 Point detection, area detection 0 -
Point detection, area detection
32 0 -
position 1
33 0 -
position 2
34 Point detection range 100 -
178 Parameter

No.
PA2_
36 Override 1 10
37 Override 2 20
- -
38 Override 4 40
39 Override 8 80
40 Internal positioning data selection 0 - ‫ې‬ ‫ې‬ -
41 Sequential start selection 0 ‫ې‬ ‫ې‬ - -
Decimal point position of stand still
42 0 - ‫ې‬ - -
timer
43 Output selection at M code OFF 1 ‫ې‬ ‫ې‬ - -
44 Positioning extended function 0 ‫ې‬ ‫ې‬ - -
Parameters marked "" in the table are enabled in the corresponding control mode.

PA2_01 Decimal point position of positioning data
4 Default
Decimal point position of 0:0 1:0.1 2:0.01 3:0.001

01 0 Always
positioning data 4:0.0001 5:0.00001
Specify the decimal point position of the displayed position data.
PA2_06 to 18 and 24 Homing settings

Default
06* Homing speed 0.01 to Max. rotation speed [r/min] 500.00 Always
07 Creep speed for homing 0.01 to Max. rotation speed [r/min] 50.00 Always
0:Forward rotation 1:Reserve rotation
08* Starting direction for homing 0 Power
2:Condition judgment start
09 0 to 2000000000 [units] 0 Always
homing
Homing direction after reference signal 0: Forward rotation
10* 0 Power
detection 1: Reverse rotation
0: Home position LS
1: Encoder Z-phase
11* Reference signal for shift operation 1 Power
2: +OT 3:-OT 4: Interrupt input
5: Stopper
Reference signal for homing 0: Home position LS 1:+OT 2:-OT
12 0 Power
(Deceleration starting signal) 3: Encoder Z-phase
Home position LS signal edge 0: Rising edge
13 0 Power
selection 1: Trailing edge
14* Home position shift unit amount 0 to 2000000000 [units] 1000 Always
0: Reverse rotation is desabled
15 Deceleration operation for creep speed 0 Power
1: Reverse rotation is enabled
16 Home position after homing completion -2000000000 to 2000000000 0 Always
Parameter 179
Default
0: Always ON after homing completion
17 Home position detection range 0 Always
1 to 2000000000 [units]
18 Deceleration time at OT during homing 0.0 to 99999.9 [ms] 100.0 Always
22 Detection time for contact-stopper 0 to 10000 [ms] 0 Always
23 Torque limit value for contact-stopper 0 to 100 [%] 0 Always
Selection of operation at OT during 0: Reverse rotation
24 0 Power
homing 1: Stop and cancel the homing
*: Compulsory setting item
BSDS can combine parameter settings to create the desired homing profile.
The homing profile is configured with combination of the following parameters.
(1) Starting direction for homing
Specify the starting direction (forward/reverse rotation) of homing. The direction
opposite to the homing direction after reference signal detection can be
specified.
4
(2) Homing direction after reference signal detection
Select the side of the home position (forward or reverse rotation side) in relation
to the reference signal for homing (Deceleration starting signal) and reference
signal for shift operation.
(3) Reference signal for shift operation
Select the signal serving as the direct standard of the zero position. You can
select +OT or -OT.
(4) Reference signal for homing (Deceleration starting signal)
Specify the creep speed deceleration signal that is used if the encoder Z-phase
is selected as a reference signal for shift operation. You can select LS, +OT or
-OT. When the encoder Z-phase is selected, It becomes the creep speed from
the start of homing operation.
180 Parameter
(1) Homing profile setting procedure

The basic procedure for specifying the homing profile (homing parameter) is
described.
Homing pattern setting

procedure
Home position shift unit amount
Z-phase/home Enter the standard signal for

Enter the reference signal for position LS determining the home position
homing.㸝PA2_11㸞 +OT/-OT
Interrupt input shift unit amount.
-OT Home Reference +OT

≠Z-phase Home position position signal for
shift amount standard signal = homing
Z-phase? (PA2_11)
=Z-phase
Enter the signal triggering

Enter the reference signal Home position deceleration to the homing
for homing (PA2_12) LS
creep speed.
4
+OT/-OT
-OT Home position LS +OT
Homing speed
Homing creep speed
Reference signal for
homing (Deceleration
starting signal)
Reverse direction Forward direction
Forward
Enter the homing direction direction
Enter the side of the home position in
after reference signal relation to the reference signal for
Reverse
detection. (PA2_10) homing.
direction
-OT Home Reference Home +OT

position signal for position
homing
Reverse direction Forward direction
Forward Enter the direction of starting motion

Enter the starting direction for direction caused upon a homing command
homing. (PA2_08) Reverse
input.
direction
-OT +OT
End of homing pattern setting
• Parameter setting examples of typical homing profiles are described on page 4-49.
(2) Homing motion setting parameter

Parameters are combined to determine the homing motion.
Parameter 181
PA2_06 Homing speed
Default
06 Homing speed 0.01 to Max. rotation speed [r/min] 500.00 Always

Specify the homing speed.
Homing speed (PA2_06)
Speed Homing creep speed (PA2_07)
Time
Homing [ORG] OFF OFF
ON
Reference signal for OFF OFF
homing ON
PA2_07 Creep speed for homing
No. Name Setting range

Default
Change
4
value
07 Creep speed for homing 0.01 to Max. rotation speed [r/min] 50.00 Always
Specify the motion speed taken after the reference signal for homing (deceleration
starting signal) is detected.
PA2_08 Starting direction for homing
Default
value
0:Forward rotation
08 Starting direction for homing 1:Reverse rotation 0 Power
2:Condition judgment start
Specify the starting direction of the homing motion.
Reverse Forward
Reverse
Forward
-OT +OT
For the direction of 2: condition judgment start, refer to page 4-64.

• Forward direction: direction of position increase Reverse direction: direction of
position decrease
The forward/reverse direction depends on parameter PA1_04 (rotation direction
selection).
182 Parameter
PA2_09 Reverse traveling unit amount for homing

Default
Reverse traveling unit

09 0 to 2000000000 [units] 0 Always
amount for homing
Not a compulsory item

Specify the reverse traveling amount taken in the direction opposite to the starting
direction for homing at the start of homing motion.
If a reference signal for homing (deceleration starting signal) or reference signal
for shift operation is detected during reverse travel, movement toward the homing
direction after reference signal detection begins. Use the setting to reduce the
homing time.
Use if the stopping position is in the direction opposite to the starting direction for
homing and the maximum distance from the stopping position to the zero position is
always known.
The unit amount depends on PA1_06 (numerator 0 of electronic gear) and PA1_07
4 (denominator of electronic gear).
If neither the reference signal for homing (deceleration starting signal) nor reference
signal for shift operation is detected during reverse motion, movement in the starting
direction for homing begins after reverse motion by the preset traveling amount.
Reverse traveling unit
amount for homing
Starting direction for homing
Stopping position
-OT Reference signal for +OT

shift operation
+ Homing creep speed
Speed Homing speed
Time Reference value of reverse

traveling unit amount for
homing
-
Homing [ORG]
OFF OFF
ON
Home position OFF OFF OFF
reference signal ON ON
PA2_10 Homing direction after reference signal detection

Default
value
10 Homing direction after 0: Forward rotation
0 Power
reference signal detection 1: Reverse rotation
Specify the direction of the zero position when viewed from the reference signal
for shift operation. The reference signal for shift operation is passed during home
position shift unit amount travel in this direction.
Parameter 183
Reverse Forward
-OT Reference signal for +OT

shift operation
• If +OT or -OT is set as a reference signal for homing (deceleration starting

signal), this parameter is disabled and the direction opposite to the one toward
the specified OT signal is the homing direction after reference signal detection.
If the encoder Z-phase is set as a reference signal for homing, this parameter is
disabled and the direction follows Starting direction for homing.
The definition of the direction of motion is shown below.
Forward: direction of position increase Reverse: direction of position decrease
PA2_11 Reference signal for shift operation

Default
4
value
0: Home position LS
Reference signal for shift 1: Encoder Z-phase
11 1 Power
operation 2: +OT 3:-OT 4: Interrupt input
5: Stopper
Specify the signal serving as a standard of the home position.

The position of a travel from the specified reference signal toward the homing
direction after reference signal detection by the home position shift unit amount is
the home position.
The home position accuracy (reproducibility of zero position) is the highest with 1
(encoder Z-phase).
If the Z-phase is selected, the reference signal for shift operation (deceleration
starting signal) can be installed.
Next to the encoder Z-phase, 4 (interrupt input) has the highest home position
accuracy (reproducibility of zero position). This is because 4 (interrupt input) detects
the interrupt position with a signal while 0 (home position LS), 2 (+OT) and 3 (-OT)
detects a level.
Home position shift unit
amount
Encoder Z-phase
-OT Interrupt Home +OT

input position LS Reference signal for
shift operation
• If one among 0 (home position LS), 2 (+OT) and 3 (-OT) is selected, there is an
error of ±250 pulses in the zero position at a creep speed for homing of 50 r/min.
• In the case of GYB motor, the Z phase of encoder will be detected right after
the power is turned on.For homing operation, the motor should be kept over
372-degree at the speed of 100r/min.The Z phase can not be correctly detected if
this condition is not satisfied.
184 Parameter
PA2_12 Reference signal for homing

Default
0: Home position LS 1:+OT 2:-OT

12 Reference signal for homing 0 Power
3: Encoder Z-Phase
If the encoder Z-phase is selected as a reference signal for shift operation, specify
the timing signal for deceleration to the creep speed for homing. The first encoder
Z-phase after reference signal for shift operation detection is the starting point of the
home position shift unit amount. If the encoder Z-phase is set as a reference signal
for homing, the speed at the time of homing starting turns into the creep speed, and
the first encoder Z-Phase after starting is a starting point of Home position shift unit
amount.
-OT Home position LS +OT
4 Homing speed
Homing creep Example where the
speed home position LS is
Speed the reference signal
for homing
Time
Home position LS OFF OFF
ON
PA2_13 Home position LS signal edge selection
Default
Home position LS signal 0: Rising edge

13 0 Power
edge selection 1: Trailing edge

Specify the enabling timing of the home position LS signal if the home position LS
is specified as a reference signal for shift operation reference signal for homing
(Deceleration starting signal).
[Home position LS timing selection = 0] [Home position LS timing selection = 1]
Homing speed Homing speed

Homing creep speed Homing creep speed
Speed Speed
Time Time
Home position
LS OFF OFF Home position OFF OFF
ON LS ON
Parameter 185
PA2_14 Home position shift unit amount

Default

14 0 to 2000000000 [units] 1000 Always
amount
Specify the distance (traveling amount) from the reference signal for shift operation
to the home position. Home position shift unit amount
Home position Reference signal for

shift operation
PA2_15 Deceleration operation for creep speed

Default
4
Deceleration operation for 0: Reverse rotation is disabled
15 0 Power
creep speed 1: Reverse rotation is enabled

Specify 1 (reverse rotation is enabled) to return upon detection of the reference
signal for shift operation during movement at the homing speed in the homing
direction after reference signal detection temporarily to the point ahead of the
reference signal for shift operation and move at the creep speed for homing again
in the homing direction after reference signal detection to the position (home
position) the home position shift unit amount away from the reference signal for shift
operation.
Accurate homing can be executed only with the reference signal for shift operation
without a reference signal for homing (deceleration starting signal).
(1) Homing speed (2) Homing creep speed (3) Homing creep speed (homing
(homing direction after reference signal (reverse) direction after reference signal detection)
detection)
Reference signal for shift Reference signal for shift Reference signal for shift
operation operation operation
(1)Homing speed
+ (3) Homing creep speed
Speed
Time
- (2) Homing creep speed

homing OFF OFF OFF OFF
ON ON ON
186 Parameter
PA2_16 Home position after homing completion
Default
Home position after homing -2000000000 to 2000000000

16 0 Always
completion [units]

Specify the coordinate position of the homing completion point.
After a homing is normally finished, the current position is replaced with the
reference value of this parameter.
Specify if the homing motion completion point is other than zero.
Home position Reference signal for
4 shift operation
Home position after

homing completion
PA2_17 Home position detection range

Default
Home position detection 0: Always ON after homing completion

17 0 Always
range 1 to 2000000000 [units]

Specify the range in which the homing completion signal is turned on.
If the current position is between the positive home position detection range
and negative home position detection range around the home position, homing
completion is turned on.
Specify 0 to always turn the homing completion signal on after a homing is finished.
Home position detection range Home position detection range
Homing completion OFF ON OFF
-OT Home position +OT
The zero position is not necessarily 0. The home position is the position specified as
a home position after homing completion (PA2_16) or preset position (PA2_19).
Parameter 187
PA2_18 Deceleration time at OT during homing

Default
Deceleration time at OT
18 0.0 to 99999.9 [ms] 100.0 Always
during homing
Specify the deceleration time taken after +OT or -OT is detected during homing
motion.
Specify the time taken to decelerate from 2000 to 0 r/min. Determine the setting
under consideration of the homing speed and moving range after the OT sensor.
(“0.7” in the equation indicates the safety factor.)
[Example of calculation of reference value]
Moving range after OT × 0.7 = Homing speed × Reduction ratio × Ball screw lead
× (Homing speed/2000 r/min × Deceleration time after homing OT/1000/60) × 1/2
30 mm ×0.7 = 1000.00 r/min × (1/5) × 20 mm
× (1000.00 /2000 r/min × Deceleration time at OT during homing /1000/60) × 1/2
Deceleration time at OT during homing = 1260.0 ms 4
• If 1 (stop) is selected with parameter PA2_24 (selection of operation at OT during
homing), stoppage occurs according to parameter PA2_60 (third torque limit). In
this case, the homing motion is stopped upon detection of OT.
+ Homing speed
Deceleration time at homing OT
Speed
Time
Acceleration time 1 or
-
acceleration time 2
+OT ON OFF ON +OT and -OT are

generally normally
closed contact signals.
The acceleration time and deceleration time are based on 2000 r/min.
PA2_22 Detection time for contact-stopper
PA2_23 Torque limit for contact-stopper

Default
Detection time for

22 0 to 10000 [ms] 0 Always
contact-stopper
Torque limit for
23 0 to 100 [%] 0 Always
contact-stopper
These parameters are enabled if “5” (stopper) is selected for PA2_11 (home position
shift amount reference signal).
Enter these parameters to perform homing in applications such as positioning of a
cylinder or the like where the home position LS or +/-OT cannot be used.
Enter the detection time and the torque limit on contact with the stopper.
For details, refer to “(7) Homing Pattern Using the Stopper” on page 4-67.
188 Parameter
PA2_24 Selection of operation at OT detection during homing

Default
Selection of operation at 0: Reverse rotation

24 0 Power
OT during homing 1: Stop and cancel the homing
Specify the motion taken upon first OT detection during homing motion.
Specify 0 to reverse the motion upon first OT detection.
Specify 1 to cancel homing and stop upon detection of OT.
Selection of operation at OT detection during homing = 0 Selection of operation at OT detection during homing = 1
Homing speed Homing speed
㸠
㸠
Speed Speed
Time Time
㸢
㸢
+OT OFF ON OFF +OT OFF ON
In-position OFF ON OFF In-position OFF ON

4  Parameters related to homing
PA1_12 (Z-phase position offset)
Default
12 Z-phase position offset 0 to 1048575 [pulses]: 20 bits 0 Power
The encoder Z-phase position can be adjusted.

The Z-phase output position shifts by the pulse amount (pulse units) specified in
the CCW direction.
If the encoder Z-phase is selected as a reference signal for shift operation, adjust
the encoder Z-phase position with this parameter after motor replacement so
that homing can be made to the original position without changing the reference
signal for homing (deceleration starting signal) or homing parameters.
For details, refer to “PA1_12 Z-phase position offset” on page 4-14.
PA1_37 to 40 (acceleration times, deceleration times)
Default

0.0 to 99999.9 [ms] Always
Specify acceleration and deceleration in the homing motion.

The acceleration/deceleration time is the time from 0 to 2000 r/min.
For details, refer to “PA1_36 to 40 Acceleration time and deceleration time
settings” on page 4-23.
Parameter 189
PA2_60 (third torque limit)

Default
60 Third torque limit 0 to 300 [%] 300 Always
Specify the deceleration torque for stopping upon detection of +OT or -OT during
homing motion.
If 1 (stop) is selected as parameter PA2_24 (selection of operation at OT
detection during homing) and OT is detected, the homing process is canceled
and controlled stop is caused according to this parameter.
For details, refer to “PA2_57 to 60 Torque limit settings” on page 4-77.
 Typical homing profiles

(1) Basic homing profile
Described here is the homing profile of the most basic motion, in which homing is
started, the reference signal for homing (deceleration starting signal) is detected
and deceleration to the creep speed for homing occurs, and the reference signal
for shift operation is detected and movement by the home position shift unit
4
amount is caused until the motion is stopped.
Use the profile if the machine stopping position is less than the reference signal
for homing (deceleration starting signal) or reference signal for shift operation.
Because neither +OT nor -OT is installed for homing of a rotating body as an
indicator of the traveling limit, this homing profile is used in principle.
[Parameter setting example]
PA1_
Default
No. Name Setting value Change
01 Control mode selection 6: Extension mode 0 Power

190 Parameter
PA2_
Default
06 Homing speed 500.00 [r/min] 500.00 Always

07 Creep speed for homing 50.00 [r/min] 50.00 Always
08 Starting direction for homing 0: Forward rotation 0 Power
Reverse traveling unit amount
09 0 [units] 0 Always
for homing
10 0: Forward rotation 0 Power
signal detection
Reference signal for shift
11 1: Encoder Z-phase 1 Power
operation
12 0: Home position LS 0 Power
13 0: Rising edge 0 Power
4
selection
14 Home position shift unit amount 1000 [units] 1000 Always
Deceleration operation for creep 0: Reverse rotation is
15 0 Power
speed disabled
completion
0: Always ON after
homing completion
18 100.0 [ms] 100.0 Always
homing
24 0: Reverse rotation 0 Power
during homing
• To cancel homing upon detection of +OT or -OT, specify 1 (stop) to parameter

PA2_24 (selection of operation at OT during homing).
The motion proceeds in the following procedure.

(1) The motion starts upon homing [ORG] (OFF → ON) in the starting direction for
homing (PA2_08) at homing speed (PA2_06).
(2) When the home position LS (PA2_12, PA2_13) is detected, the motion changes
in the homing direction after reference signal detection (PA2_10) at the creep
(3) After the home position LS (PA2_12) is detected during travel in the homing
direction after reference signal detection and the first encoder Z-phase (PA2_11)
is detected, a travel occurs by the home position shift unit amount (PA2_14),
followed by stoppage. The stopping point changes to the home position and
homing completion is turned on and the homing process is finished.
Parameter 191
Encoder Z-phase
(1) (2)
(3)

Home Home +OT
-OT Homing direction after position LS position
reference signal detection
Homing speed [PA2_06]
Speed (2) Homing creep speed [PA2_07]
(1) Home position shift unit amount [PA2_14]
(3)
Time
Servo-on [S-ON] OFF ON
Position control OFF ON

Controller,
Homing [ORG] OFF ON OFF sensor
↓
Home position LS [LS] OFF ON OFF Servo amplifier
4
Encoder Z-phase OFF ON OFF
Ready for servo-on OFF ON
Homing LS detection OFF ON OFF

Servo
Homing completion
OFF ON amplifier
↓
Controller
Zero speed ON OFF ON
In-position [INP] ON OFF ON
(2) OT reference homing profile

If the OT located in the starting direction for homing is detected after homing is
started before the reference signal for homing (deceleration starting signal) is
detected, the motion reverses automatically and a travel occurs in the opposite
direction for a reference signal for shift operation in this homing profile.
Secure homing is realized even if the direction of the reference signal for homing
(deceleration stating signal) or reference signal for shift operation in relation to
the machine stopping position is not known.
PA1_
Default
No. Name Setting value
Change

192 Parameter
PA2_
Default
No. Name Setting value
Change

09 Reverse traveling unit amount for homing 0 [units] 0 Always
Homing direction after reference signal
detection
11 Reference signal for shift operation 1: Encoder Z-phase 1 Power
13 Home position LS signal edge selection 0: Rising edge 0 Power
0: Reverse rotation is
4 16 Home position after homing completion
disabled
0 [units] 0 Always
0: Always ON after homing
completion
18 Deceleration time at OT during homing 100.0 [ms] 100.0 Always
Selection of operation at OT during
homing
• Because the reverse rotation upon OT detection is enabled with the standard
homing setting of BSDS, the OT reference homing is executed with the same
parameter settings as those of the basic homing profile.
If the reference signal for homing (deceleration starting signal) is detected before
OT is detected, the motion profiles the same as that of (1) basic homing profile.
If OT is detected in the starting direction for homing during homing motion, the
motion proceeds in the following procedure.
(1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the starting
direction for homing (PA2_08) at the homing speed (PA2_06).
(2) If OT is detected in the starting direction for homing (PA2_08) before the home
position LS (PA2_12) is detected, the motion reverses at the homing speed
(PA2_06).
(3) If the home position LS (PA2_12) is detected during reverse rotation, the motion
changes in the homing direction after reference signal detection (PA2_10) at the
creep speed for homing (PA2_07).
4) Upon detection of the first encoder Z-phase (PA2_11) after detection of the home
position LS (PA2_12) during travel in the homing direction after reference signal
detection (PA2_10), a travel continues by the home position shift unit amount
(PA2_14), followed by stoppage. The stopping point changes to the home
position and homing completion is turned on and the homing process is finished.
Parameter 193
Encoder Z-phase
(3) (4) (1) (2)
Homing direction Starting

Home Reverse
after reference Home direction for rotation
-OT signal detection position LS position
homing +OT
Homing speed [PA2_06] Homing creep speed [PA2_07]

+
Speed Home position shift unit
(2) amount
[PA2_14]
(1)
(3) (4)
Time
㸢
Homing [ORG] OFF ON OFF Controller,

sensor
4
+OT ON OFF ON ↓
Servo
Home position LS [LS]
OFF ON OFF ON OFF amplifier
OT detection OFF ON OFF
+OT detection OFF ON OFF

Servo
Homing LS detection OFF ON OFF ON OFF amplifier
↓
Homing completion OFF ON Controller
Zero speed ON OFF ON OFF ON OFF ON
In-position ON OFF ON OFF ON OFF ON

[INP]
• At the rotation direction selection point with zero speed, zero speed and in-
position [INP] are momentarily turned on. The signal change may fail to be
sensed according to some scanning periods of the host controller.
194 Parameter
(3) At-start reverse rotation homing profile1

After homing is started, a travel occurs in the direction opposite to the starting
direction for homing by the specified reverse traveling unit amount for homing while
the reference signal for homing (deceleration starting signal) is searched for.
This profiles used if the machine stopping position is larger than the reference
signal for homing (deceleration starting signal) or reference signal for shift
operation.
PA1_
Default

PA2_
Default
4 06 Homing speed 500.00 [r/min] 500.00 Always

homing
signal detection
Reference signal for shift
11 1: Encoder Z-phase 1 Power
operation
13 0: Rising edge 0 Power
selection
Deceleration operation for creep
15 0: Reverse rotation is disabled 0 Power
speed
completion
completion
18 100.0 [ms] 100.0 Always
homing
during homing
• Because rotation reverses in the direction opposite to the OT direction upon OT

detection to detect the reference signal for homing (deceleration starting signal)
and reference signal for shift operation, secure homing is realized. The reverse
rotation after OT detection follows (2) OT reference homing profile.
Parameter 195

(1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the
direction opposite to the starting direction for homing (PA2_08) at the homing
speed (PA2_06).
(2) If the home position LS (PA2_12) is detected during travel by the reverse
traveling unit amount for homing (PA2_09), the motion changes in the homing
direction after reference signal detection (PA2_10) at the creep speed for homing
(PA2_07).
(3) Upon detection of the first encoder Z-phase (PA2_11) after detection of the home
detection (PA2_10), a travel continues by the home position shift unit amount
Encoder Z-phase
(2) (3) (1)
4
Home Home
-OT position LS position
Homing direction after +OT
Homing speed Reverse traveling

Homing creep speed [PA2_07]
+ [PA2_06] unit amount for
Speed homing [PA2_09] Home position shift unit amount
[PA2_14]
(2)
(3)
Time
(1)
-
Position control OFF ON Controller,

sensor
Homing [ORG] OFF ON OFF ↓
Servo
Home position LS [LS] OFF ON OFF ON OFF amplifier
Homing LS detection OFF ON OFF ON OFF Servo

amplifier
Homing completion OFF ON ↓
Controller
Zero speed ON OFF OFF ON
ON
In-position ON OFF OFF ON
[INP] ON
• At the direction of rotation switch rotation direction selection point with zero speed,
zero speed and in-position [INP] are momentarily turned on. The signal change
may fail to be sensed according to some scanning periods of the host controller.
196 Parameter
If the home position LS (PA2_12) is not found during travel from the homing starting
position in the reverse traveling unit amount for homing (PA2_09), the motion continues
in the starting direction for homing to search for the home position LS (PA2_12).
(1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the
speed (PA2_06).
(2) If the home position LS (PA2_12) is not found during travel by the reverse
traveling unit amount for homing (PA2_09), the motion changes in the starting
(3) If the home position LS (PA2_12, PA2_13) is detected, the motion changes in the
homing direction after reference signal detection (PA2_10) at the creep speed for
homing (PA2_07).
detection, a travel continues by the home position shift unit amount (PA2_14),
followed by stoppage. The stopping point changes to the home position and
homing completion is turned on and the homing process is finished.
4 Reverse traveling unit amount for homing Home position shift unit amount
Encoder Z-phase
(2) (1) (3) (4)
-OT Starting direction for homing Home +OT

Home
Homing direction after reference position position
signal detection LS Homing speed [PA2_06]
Homing speed
+ Homing creep speed [PA2_07]
[PA2_06] Reverse traveling
Speed unit amount for Home position shift unit amount
homing [PA2_09] [PA2_14]
(2)
(3)
Time
(1)
-

sensor
Servo
Home position LS [LS] OFF ON OFF amplifier
Homing LS detection OFF ON OFF Servo

amplifier
Controller
ON
In-position ON OFF OFF ON
[INP] ON
Parameter 197
If the home position LS (PA2_12) is not found during travel from the homing starting
position in the reverse traveling unit amount for homing (PA2_09), the motion
changes in the starting direction for homing and the home position LS (PA2_12) is
searched for. If the home position LS (PA2_12) is not found during the motion in the
starting direction for homing until OT in the starting direction for homing is detected,
the motion reverses and the reference signal for homing (Deceleration starting
signal) and reference signal for shift operation are searched for.
(1) The motion starts upon at the rising edge (OFF → ON) of homing [ORG] in the
speed (PA2_06).
(2) If the home position LS (PA2_12) is not found during travel by the reverse
traveling unit amount for homing (PA2_09), the motion changes in the starting
(3) If OT in the starting direction for homing (PA2_08) is found while the home
4
position LS (PA2_12) is not found, the motion reverses at the homing speed
(PA2_06).
(4) If the home position LS (PA2_12) is found during reverse rotation, the motion
changes in the homing direction after reference signal detection (PA2_10) at the
detection (PA2_10), a travel by the home position shift unit amount (PA2_14)
continues, followed by stoppage. The stopping point changes to the home

198 Parameter
Encoder Z-phase
(4) (5) (2) (1) (3)
-OT Home Home Starting direction for homing +OT

position LS position Homing direction after reference
signal detection

Reverse traveling
+ Homing creep speed [PA2_07] amount [PA2_14]
unit amount for
homing [PA2_09] (3) (5)
Speed
(1) (2) Homing speed (4)

[PA2_06] Time
-
4
Controller,
Homing [ORG] OFF ON OFF sensor
↓
+OT ON OFF ON Servo
amplifier
Home position LS [LS] OFF ON OFF ON OFF
+OT detection OFF ON OFF

Servo
Homing LS detection OFF ON OFF ON OFF amplifier
↓
Homing completion OFF ON Controller
Zero speed ON OFF OFF

ON ON ON OFF ON
In-position ON OFF ON ON OFF ON OFF ON

[INP]
(4) Reference signal for shift operation homing profile

Upon detection of a reference signal for shift operation after the start of homing,
the motion reverses to the point ahead of the reference signal for shift operation,
and then the motion continues at the creep speed for homing to detect the
reference signal for shift operation and determine the home position.
Accurate homing (highly reproducible zero position) is realized only with the
reference signal for shift operation without using the reference signal for homing
(deceleration starting signal).
Parameter 199

PA1_
Default
PA2_
Default

homing
detection
11 Reference signal for shift operation 0: Home position LS 1 Power 4
1: Reverse rotation is
enabled
16 Home position after homing completion 0 [units] 0 Always
completion
homing

and reference signal for shift operation, homing can be secured. The reverse

(2) Upon detection of the home position LS (PA2_12, PA2_13), the motion reverses
in the direction opposite to the homing direction after reference signal detection
(PA2_10) to the point ahead of the home position LS (PA2_12).
(3) The motion changes in the homing direction after reference signal detection
(PA2_10) to detect the home position LS (PA2_12, PA2_13), and it changes to
the creep speed for homing (PA2_07) by the home position shift unit amount
200 Parameter
(1) (2)-2 (2)-1 (3)

Home Home
-OT Homing direction after
position LS position +OT
Homing speed [PA2_06]

+
Speed (3)
(1) Home position shift unit
(2) amount [PA2_14]
Time

4 Homing [ORG] OFF ON OFF
sensor
↓
Servo
Home position LS [LS] OFF ON ON OFF ON OFF amplifier
Homing LS detection OFF ON ON OFF ON

Servo
Homing completion OFF ON amplifier
↓
Zero speed ON OFF ON OFF ON OFF ON Controller
In-position ON OFF ON OFF ON OFF ON

[INP]
(5) At-start reverse rotation homing profile2

The motion occurs in the direction opposite to the homing direction after
reference signal detection (direction of home position when viewed from
the reference signal for homing) to detect the reference signal for homing
(deceleration starting signal) and reference signal for shift operation.
This profile is used if the machine stopping position is larger than the reference
signal for homing or reference signal for homing.
Parameter 201

PA1_
Default
PA2_
Default

08 Starting direction for homing 0: Reverse rotation 0 Power
homing
detection
11 Reference signal for homing 1: Encoder Z-phase 1 Power 4
12 Reference signal for homing 0: Home position LS 0 Power
15 Deceleration operation for creep speed 0: Reverse rotation is disabled 0 Power
completion
homing

and reference signal for shift operation, secure homing is realized. The reverse
• The direction of movement is defined as follows.
Forward: direction of position increase Reverse: direction of position decrease.
direction for homing (PA2_08; direction opposite to homing direction after
reference signal detection in this case) at the homing speed (PA2_06).
(2) Upon detection of the home position LS (PA2_12, PA2_13), the motion changes
in the homing direction after reference signal detection (PA2_10) at the creep
position LS (PA2_12), the travel continues by the home position shift unit amount
202 Parameter
Encoder Z-phase
(2) (3) (1)
Starting direction
-OT Home Home for homing +OT
position LS position

signal detection

+ Homing speed
[PA2_06] (2) Home position shift unit
Speed amount [PA2_14]
(3)
Time
(1)
-
4 Position control OFF ON Controller,

sensor
Servo
Home position LS [LS] OFF ON OFF ON OFF amplifier
Homing LS detection OFF ON OFF ON OFF Servo

amplifier
Controller
Zero speed ON OFF ON OFF ON
In-position [INP] ON OFF ON OFF ON
(6) Homing profile without using OT

Below is an example of the setting for returning to the home position with the
home position LS signal without the OT signal. Use this profile for mechanical
configurations where one of directions of the moving part of the mechanical
system is turned on with the home position LS signal as shown in the figure
below. The starting direction for homing is automatically determined according to
the setting of PA2_10 (homing direction after reference signal detection) and the
ON/OFF state of the home position LS at which return begins.
Parameter 203
[An example of relationship between moving range of machine and home position LS]
Reverse Moving range of machine Forward

rotation rotation
OFF ON
LS

PA1_
Default
PA2_
Default
No. Name Setting
value
Change
4
08 Starting direction for homing 2: Condition judgment start 0 Power
homing
Homing direction after reference signal 0: Forward rotation
10 0 Power
detection
11 Reference signal for shift operation 1: Z-phase of encoder 1 Power
Reference signal for homing 0: Home position LS
12 0 Power
15 Deceleration operation for creep speed 1: Reverse rotation is enabled 0 Power
completion
• PA2_13: Home position LS signal edge selection indicates selection of the edge
of the home position LS corresponding to the direction of homing.
If PA2_08 is set at “2,” use of the home position LS is assumed. Accordingly the
following conditions are included in combination conditions.
PA2_11 (Reference signal for shift operation) = 0 (home position LS) or
PA2_11 (Reference signal for shift operation) = 1 (encoder Z-phase) and PA2_12
(reference signal for homing) = 0 (home position LS)
204 Parameter
If PA2_08 = “2” and neither of the above conditions is satisfied, the starting direction
for homing follows the setting of PA2_10 (homing direction after reference signal
detection). If PA2_08 is set at “2,” PA2_09 (reverse traveling unit amount for homing)
is internally handled as zero forcibly.
Operation proceeds in the following order.

(1) Condition judgment start is made upon the rising edge (OFF-to-ON transition)
of homing [ORG] in the reverse rotation direction at the zero return speed
(PA2_06).
(2) Upon deactivation of home position LS (PA2_12, PA2_13), movement is
temporarily stopped, then continues in the homing direction after reference signal
detection (PA2_10) at the creep speed for homing (PA2_07).
(3) The travel continues by the home position shift unit amount (PA2_14) after the
first encoder Z-phase (PA2_11) is detected since the home position LS (PA_12)
is detected, followed by stoppage. The stopping point changes to the home
position and homing completion is turned on, finishing the homing process.
4 Home position shift amount
Encoder Z-phase
(2) (1) (3)
Home position LS

Home position
Homing direction after reference signal detection
㸠 Creep speed for homing [PA2_07]

Homing speed
[PA2_06] Home position shift unit amount
(2) [PA2_14]
Speed
(3)
Time
(1)
㸢

sensor
Homing [ORG] OFF ON OFF Ў
Servo amplifier
Home position LS ON OFF ON
[LS]

ON
Homing LS detection OFF OFF
Servo amplifier
Homing completion OFF ON Ў
Controller
ON
In-position [INP] ON OFF OFF ON
ON
Parameter 205
• Zero speed and in-position [INP] are temporarily turned on when the speed is
reduced to zero at changeover of the direction of rotation. Signal transition may
not be detected according to some scanning frequencies of the host controller.
• [Supplement] Operation example showing the machine position in lateral

direction
[Homing starting after LS activation]
(1) A travel in the reverse direction starts at the homing speed (PA2_06).
(2) When the falling edge (ON-to-OFF transition) of the zero LS is detected, reverse
rotation continues to decelerate to the creep speed for homing (PA2_07).
(3) When the first encoder Z-phase (PA2_11) is detected after the rising edge (OFF-
to-ON transition) of the home position LS is detected, a travel is made by the
home position shift unit amount (PA2_14), followed by stoppage.
[Homing starting after LS deactivation]

(1) A travel in the forward direction starts at the homing speed (PA2_06).
(2) Because the deceleration operation for creep speed (PA2_15) is set at “1”
(reverse rotation enable), reverse rotation is made upon detection of the rising
4
edge (OFF-to-ON transition) of the home position LS while decelerating to the
(3) Changeover to forward rotation is made again upon detection of the falling edge
(ON-to-OFF transition) of the home position LS.
(4) When the first encoder Z-phase (PA2_11) is detected after the rising edge (OFF-
to-ON transition) of the home position LS is detected, a travel is made by the
home position shift unit amount (PA2_14), followed by stoppage.
Machine moving range
Reverse rotation ON edge of LS Forward rotation
LS (ON active)
Z-phase
PA2_07䠌Creep
Start from inside of LS speed for homing
䊲 Position
PA2_14䠌Home
PA2_06䠌Homing speed position shift unit
PA2_06䠌Homing speed amount
PA2_07䠌Creep
Start from outside of LS speed for homing
䊲 Position
• Operation example at parameter setting change

Operation examples after a parameter change necessitated due to the position,
etc. of the home position LS (see Table a for the setting example) are shown in
Figs. a to c.
206 Parameter
Table a
No. Name Setting example of Setting example of Setting example of
Fig. a Fig. b Fig. c
PA2_08 Starting direction for homing 2:Condition judgment start
PA2_10 Homing direction after 0:Forward rotation 1:Reverse rotation

PA2_11 Reference signal for shift
1:Encoder Z-phase
operation
PA2_12 Reference signal for homing
0:Home position LS
PA2_13 Home position LS signal edge
1: Trailing edge 0: Rising edge 1: Trailing edge
selection
PA2_15 Deceleration operation for
1:Reverse rotation is enabled
creep speed
Figs. a through c assume that the machine position is in the lateral direction.
4 [Fig. a]
Reverse rotation LS ON edge Forward rotation
LS (ON active)
Z-phase
PA2_06䠌Homing speed
Start from the

inside of LS
䊲 Position PA2_07䠌Creep speed for homing
PA2_14䠌Home position
shift unit amount
Start from
outside of LS
Parameter 207
[Fig. b]
Reverse rotation LS ON edge Forward rotation
LS (ON active)
Z-phase
Start from the

inside of LS
PA2_14䠌Home position
shift unit amount
Start from
outside of LS
4
[Fig. c]
Reverse rotation LS OFF edge Forward rotation
LS (ON active)
Z-phase
Start from the inside of LS

PA2_14䠌Home position PA2_06䠌Homing speed

shift unit amount PA2_06䠌Homing speed
Start from outside
of LS
(7) Homing pattern using the encoder Z-phase as a referenece signal for homing
When it is a machine which cannot install sensors, such as LS, PA2_12:
Reference signal for homing set as “Encoder Z-Phase”.
208 Parameter

PA1_
Default
value
01 Control mode selection 0: Position 0 Power
PA2_
Default
value
11 Reference signal for shift operation 1: Encoder Z-Phase 1 Power
12 Reference signal for homing 3: Encoder Z-Phase 0 Power
• Timing chart
4 (1) When ORG signal is ON, the motor rotates with Creep speed for homing
according to Starting direction for homing.
(2) If first encoder Z-Phase is detected, it moves by PA2_14: Homeing position shift
unit amount.
Speed (1) Creep speed for homing [PA2_07]

[PA2_14]
(2)
Time
Controller, Sensor
to
Servo Amplifier
Homing [ORG] OFF ON OFF
Encoder Z-Phase OFF ON OFF

Servo Amplifier
Homing completion OFF ON
to
Controller
In-position [INP] ON OFF ON
• If PA2_12 is 3: Encoder Z-Phase, Reference signal for shift operation is always

Encoder Z-Phaze even if PA2_11 is set as which value.
• When ±OT is detected at the start of homing, the motor does not rotate eve if
PA2_24 is set as which value. And ±OT is detected during the homing operation,
the motor is stopped.
(8) Homing pattern using the stopper
Parameter 209

PA1_
Default
value
7: Positioning
01 Control mode selection 0 Power
operation
PA2_
Default
value
Homing direction after
10 reference signal 0: Forward rotation 0 Power
detection
11
shift operation
5: Stopper 1 Power 4
amount
Home position after
homing completion
Home position detection 0: Always ON after
17 0 Always
range homing completion
Detection time for
22 50 [ms] 0 Always
contact-stopper
Torque limit for
23 30 [%] 0 Always
contact-stopper
• Select “5” (stopper) for the home position shift amount reference signal (PA2_11).
Be sure to enter the output torque generated upon contact with the stopper, as
a torque limit for contact-stopper (PA2_23), and enter the time between contact
with the stopper and completion of homing as a Detection time for contact-
stopper (PA2_22).
(i) If the home position sift amount (PA2_14) is zero, homing is finished at the
stopping position after the detection time for contact-stopper.
(ii) If the home position shift amount (PA2_14) is other than zero, the motor
moves by the home position shift amount from the stopping position after the
detection time for contact-stopper in the reverse direction to the contact stop,
and homing is finished there.
210 Parameter
Timing chart
Speed
Homing speed
[PA2_06]
Time
Home position
shift unit amount
[PA2_14]
Creep speed for
Stopper homing [PA2_07]
Homing
ON
Torque limit detection ON
Homing completion PA2_22: Detection time for contact-stopper ON
PA2_23: Torque limit for contact-stopper

Torque limit value
4
PA1_27: Forward rotation torque limit
PA1_28: Reverse rotation torque limit
(1) The rising edge of the homing signal starts operation at the homing speed
(PA2_06) in the homing starting direction (PA2_10).
(2) Upon contact with the stopper or the like, the motor is stopped and the output
torque is limited to the torque limit for contact-stopper (PA2_23).
After limitation is set in the output torque, the detection time for contact-stopper
(PA2_22) is counted for the specified time, then a return is caused by the home
position shift amount (PA2_14), and homing is finished.
If the home position shift amount is zero, homing is finished at the contact
position.
PA2_19 Preset position

Default
19 Preset position -2000000000 to 2000000000 [units] 0 Always
Specify the new position to be substituted with the current position upon an input
signal (“position preset (16)” assigned to a CONT signal). After position preset is
turned on, the current position changes to the reference value of this parameter.

Parameter 211
PA2_20 Interrupt traveling unit amount

Default
Interrupt traveling unit 1 to 2000000000 [units]

20 100000 Always
amount
Specify to perform interrupt positioning.

Specify the traveling amount based on the position located at the timing of activation
of an input signal (“interrupt input (49)” assigned to CONT signal).
PA2_25 to 27 Software OT selection･position command format, software OT

detection position
Software OT selection
0: Disable 1: Enable
(PA1_01 = 1 to 6)
25 Position command 0: Normal 1: Positioning start with zero
0 Power
4
format (PA1_01 = 7)
position preset
Positive software OT -2000000000 to 2000000000

26 2000000000 Always
detection position [units]
Negative software OT -2000000000 to 2000000000
27 -2000000000 Always
detection position [units]
(1) Software OT selection.

Forced stop is caused, different from +OT or -OT external input signal, if the
servomotor position exceeds the reference value.
Enter settings so that positive software OT detection position is larger than
negative software OT detection position.
Traveling range
Feedback position
Negative software OT detection Positive software OT detection

position (PA2_27) position (PA2_26)
(2) Position command format

Normal: Motion is conducted in the range from -2000000000 to 2000000000
units. Absolute/incremental positioning data designation and various
position detection functions can be used.
1: Positioning start with zero position preset:

Repetitive rotation in the same direction can be made.
The position is preset at the start, and all position data is handled as an
incremental value. The OT function, software OT and hardware OT functions
allocated to input signals are disabled.
212 Parameter
PA2_28 to 29 Limiter detection position

Positive Iimiter detection

28 2000000000
position
-2000000000 to 2000000000 [units] Always
Negative Iimiter detection
29 -2000000000
position
Enter the position of the limiter detection function.

While each setting can be positive or negative, the setting of PA2_28 must not be
smaller than the setting of PA2_29.
For detail description of limiter detection, refer to “CHAPTER 2 WIRING.”
PA2_31 to 34 Point detection, area settings

Default
Point detection, area 0: Point detection

4 31 detection 1: ON for positive side
2: ON for negative side
0 Always
Point detection, area

32 -2000000000 to 2000000000 units 0 Always
detection position 1
Point detection, area
33 -2000000000 to 2000000000 units 0 Always
detection position 2
34 Point detection range 0 to 2000000000 units 100 Always
Specify the output format of the “point detection, area detection” signal that is output
as an output signal (OUT signal).
In case of point detection setting, the signal is output if the servomotor is located
nearly in the reference value (point detection range)
In case of area setting, the signal is turned on or off if the servomotor position
exceeds the reference value.
(1) Point detection (If PA2_31 (point detection, area detection) is 0)

The signal is turned on if the current position is nearly the position specified in
the standard parameter.
Point detection, area detection position 1
(PA2_32)
(PA2_33)
(Standard parameter 64)
190.0 200.0 210.0

Current position
Fixed point
OFF ON
Point detection range
(PA2_34)
10.0 10.0
Parameter 213
(2) Area OFF → ON (If PA2_31 (point detection, area detection) is 1)

The signal is turned on if the current position is exactly or larger than the setting
of the standard parameter.
It is turned off if the position is less than the setting.
(PA2_32)
(PA2_33)
(Standard parameter 64)
190.0 200.0 210.0

Current position
Area
OFF ON
(3) Area ON → OFF (If PA2_31 (point detection, area detection) is 2)

The signal is turned on if the current position is exactly or less than the setting of
the standard parameter.
It is turned off if the position exceeds the setting.
4
(PA2_32)
(PA2_33)
190.0 200.0 210.0
Current position
Area
ON OFF
PA2_36 to 39 Override settings

Default
36 Override 1 10 Always
0 to 150 [%]
These parameters are enabled under speed and position control.

To use these signals, be sure to turn on “override enable.”
With this setting, the speed can be changed during operation. For the weight of the
override, refer to the table below.
214 Parameter
Ratio of override
Traveling
Override Override Override Override
speed
8 4 2 1 %
OFF OFF OFF OFF 0
OFF OFF OFF ON 10
OFF OFF ON OFF 20
OFF OFF ON ON 30
OFF ON OFF OFF 40
OFF ON OFF ON 50
OFF ON ON OFF 60
OFF ON ON ON 70
ON OFF OFF OFF 80
ON OFF OFF ON 90
ON OFF ON OFF 100
ON OFF ON ON 110
ON ON OFF OFF 120
ON ON OFF ON 130
ON ON ON OFF 140
ON ON ON ON 150
* For default override weight
4 PA2_40 Internal positioning data selection

Default
Internal positioning data

40 0: Disable 1: Enable 10 Power
selection
Select whether the internal positioning data is enabled or disabled.

Setting “0”: Immediate value data operation over RS-485 Modbus communications
Setting “1”: Positioning data operation with address settings AD0 to AD3
PA2_41 Sequential start selection

Default
0: Disable 1: Enable 2: Homing

41 Sequential start selection 0 Power
3: Immediate value data operation
Select whether to enable the sequential start or not, and select the motion when AD0
through AD3 are inactive.
If “1” is selected and AD0 through AD3 are inactive, sequential start operation is
conducted.
If “2” is selected and AD0 through AD3 are inactive, homing is conducted.
If “3” is selected and AD0 through AD3 are inactive, immediate value data operation
is conducted.
Parameter 215
PA2_42 Decimal point position of stand still timer
Default
Decimal point position of

42 0: 0.01 1: 0.001 0 Always
stand still timer
Select the least input increment of the stand still timer.

Selection can be made between 1 and 10 ms.
PA2_43 Output selection at M code OFF

Default
Output selection at M
43 0: 00‘H 1: FF’H 1 Power
code OFF
Select the output signal status at M code shutoff.

For details of the M code, refer to “CHAPTER 12 POSITIONING DATA”
4
PA2_44 Positioning extended function
Default
Positioning extended 0: Internal command completion
44 0 Power
function 1: Internal feedback completion
Select the condition for reversing in a case ”when the travel directions between two
continuous motions are opposite” as the followings:
(a) In continuous operation by the immediate continuous command in immediate
data operation
(b) In continuous operation with the step mode = CO (continuous) and the stop timer
= “0” in positioning data operation
Setting value: 0 (Internal command completion.)

After the command in-position of each motion, next operation will be carried out
continuously (in continuous operation) as shown in the chart below.
The current feedback position while continuous operation is carried out may not
reach the target position due to delay of following behavior.
To approach the target position, adjust the tuning setting and increase the response.
216 Parameter
Speed
Position
Target These timings may not

position allow reaching to the
target position.
Time
Internal command
OFF
completion ON ON ON ON
Internal feedback OFF ON
completion
In-position[INP] ON
OFF
Setting value: 1 (Internal feedback completion.)

4 The operation will shift to the next motion continuously after each motion enters
in-position conditions (*) as shown in the chart below.
The current feedback position while continuous operation is carried out will start
the following motion to the target position after positioning is complete normally.
* Conditions for in-position is all of the following (a), (b) and (c).
(a) Internal command completion (b) The position deviation is within the deviation
zero range (PA1_32) (c) The speed is within the zero speed range (PA1_30)
Moreover, the in-position [INP] signal is not output during continuous operation.
Speed
Motor
Command speed
Time
Position
Target
position
Start positioning Time

ON
Internal command
OFF
completion ON ON ON ON
Internal feedback
completion OFF ON
ON ON ON
In-position [INP]
OFF ON
Parameter 217
4.5 Extended Function

Setting Parameter
4.5.1 List (PA2_)

No.
51 Numerator 1 of electronic gear
52 Numerator 2 of electronic gear 1 㸢 ‫ې‬ 㸢㸢
54 Command pulse ratio 1 1.00 㸢 ‫ې‬ 㸢㸢
55
56
Speed limit selection at torque control
10.00
0
㸢
‫ې‬
‫ې‬
㸢
㸢
㸢
㸢
‫ې‬
4
57 Torque limit selection 0 ‫ې‬ ‫ې‬ ‫ې‬ 㸢
58 Second torque limit 300 㸢 ‫ې‬ ‫ې‬ 㸢
59 Deviation hold selection at torque limit 0 ‫ې‬ ‫ې‬ 㸢㸢
60 Third torque limit 300 㸢 ‫ې‬ ‫ې‬ 㸢
61 Action sequence at servo-on OFF 5 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
62 Action sequence at alarm 5 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
63 Action sequence at main power shutoff 5 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
64 Torque keeping time to holding brake 0.00 㸢 ‫ې‬ ‫ې‬ ‫ې‬
65 Regenerative resistor selection 1 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
66 Flying start at speed control 0 ‫ې‬ 㸢 ‫ې‬ 㸢
67 Alarm detection at undervoltage 1 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
68 Unused 0 㸢㸢㸢㸢
69 Deviation detection overflow value 15.0 㸢 ‫ې‬ 㸢㸢
70 Overload warning value 50 㸢 ‫ې‬ ‫ې‬ ‫ې‬
72 Station number for communications 1 (RS-485) ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
73 Communication baud rate (RS-485) 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
74 Parameter write protection 0 㸢 ‫ې‬ ‫ې‬ ‫ې‬
75 Positioning data write protection 0 㸢 ‫ې‬ 㸢㸢
77 Initial display of the keypad 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
78 Display transition at warning detection 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
80 Parameter in RAM 1
0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
86 Positioning data in RAM 1 0 ‫ې‬ ‫ې‬ 㸢㸢
89 Sequence test mode: mode selection 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
218 Parameter

No.
90 Sequence test mode: encoder selection 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
93 Parity/stop bit selection (for Modbus) 0 ‫ې‬ ‫ې‬ 㸢㸢
94 Response time (for Modbus) 0.00 㸢 ‫ې‬ 㸢㸢
Communication time over time
95 0 㸢 ‫ې‬ 㸢㸢
(for Modbus)
97 Communication protocol selection 0 㸢 ‫ې‬ 㸢㸢
98 GY******2-T2*-* motor model setting 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
99 Encoder selection 0 ‫ې‬ ‫ې‬ ‫ې‬ ‫ې‬
PA2_51 to 53 Electronic gear ratio numerator 1, 2, 3
4 No. Name Setting range

Default
value Change

52 Numerator 2 of electronic gear 1 to 4194304 1 Always
Specify the electronic gear ratio, using the input signal (“electronic gear numerator
selection 0, 1” assigned to CONT signal).
Electronic gear Electronic gear numerator Numerator of electronic gear
numerator selection 1 selection 0
PA1_06: Numerator 0 of electronic
OFF OFF
gear
OFF ON
gear
ON OFF
gear
ON ON
gear
Do not change the electronic gear ratio in case of interrupt positioning or homing.
PA2_54 and 55 Command pulse ratio 1, 2
No. Name Setting range Default Change

value
54 Command pulse ratio 1 1.00
0.01 to 100.00 Always
55 Command pulse ratio 2 10.00
Specify the multiplication of the command pulse.

The reference value selected with an input signal (“command pulse ratio 1, 2”
assigned to a CONT signal) is enabled.
Parameter 219
PA2_56 Speed limit selection at torque control

Default
0: Parameter (PA1_26)
Speed limit selection at
56 1: As per multi-step speed selection 0 Power
torque control
inc. VREF terminal voltage
Select the method of setting limitation on the speed under torque control.
If the setting is 0, the reference value of PA1_26 (maximum rotation speed) is the
speed limit.
If the setting is 1, the limit is shown in the table below.
CONT INPUT SIGNAL

Enabled speed limit
X3 X2 X1
OFF OFF OFF VREF terminal voltage (analog speed limit)

OFF OFF ON Speed limit 1 under torque control 4
OFF ON OFF Speed limit 2 under torque control
OFF ON ON Speed limit 3 under torque control
ON OFF OFF Speed limit 4 under torque control
ON OFF ON Speed limit 5 under torque control
ON ON OFF Speed limit 6 under torque control
ON ON ON Speed limit 7 under torque control
PA2_57 to 60 Torque limit settings

Default
value
0: As per CONT signal torque limit 0/1
57 Torque limit selection 0 Power
1:TREF terminal voltage
58 Second torque limit 0 to 300 [%] 300 Always
0: No deviation hold
Deviation hold selection at
59 1: Deviation hold at second torque limit 0 Power
torque limit
2: TREF terminal voltage
60 Third torque limit 0 to 300 [%] 300 Always
220 Parameter
The enabled torque limit is described below.

(1) In case of position control and speed control (If PA2_57 is 0)
CONT signal * State of each limit Enabled torque limit
Torque Torque CCW: Powering, CW: Powering,

TL: TREF (analog torque limit) CW: Regeneration CCW: Regeneration
limit 1 limit 0
Forward rotation Reverse rotation
OFF OFF No condition judgment
torque limit torque limit
Forward rotation Reverse rotation
TL ≥ Forward/Reverse rotation torque limit
OFF ON torque limit torque limit
TL < Forward/reverse rotation torque limit TL TL
Second torque limit ≥ Forward/Reverse rotation Forward rotation Reverse rotation
torque limit torque limit torque limit
ON OFF
Second torque limit < Forward/Reverse torque Second torque Second torque
limit limit limit
Second torque Second torque
TL ≥ Second torque limit
limit limit
4
ON ON
TL < Second torque limit TL TL
Add a positive voltage to TL. The negative voltage is limited to zero.

A negative setting is limited to zero.
If PA2_57 is 1, the torque limit is always the TL value.
(2) In case of torque control
The forward rotation torque limit and reverse rotation torque limit are followed.
(3) Torque limit for controlled stop action (under position or speed control) (If PA2_57
is 0)
CONT signal * State of each limit Enabled torque limit

Torque Torque CW deceleration CCW deceleration
TL: TREF (analog torque limit)
limit 1 limit 0 stop stop
Forward rotation torque limit ≥ Third
Third torque limit Third torque limit
torque limit
OFF OFF
Forward/Reverse rotation torque limit < Forward rotation torque Reverse rotation torque
Third torque limit limit limit
TL, forward/reverse torque limit ≥ Third
torque limit
OFF ON TL or forward rotation TL or reverse rotation
TL, forward/reverse torque limit < Third
torque limit, whichever torque limit, whichever
torque limit
is less is less
Second torque limit, forward/reverse
rotation torque limit ≥ Third torque limit
ON OFF Second torque limit or Second torque limit or
Second torque limit, forward/reverse
forward rotation torque, reverse rotation torque,
rotation torque limit < Third torque limit
whichever is less whichever is less
TL, second torque limit ≥ Third torque
limit
ON ON
TL, second torque limit < Third torque TL or second torque TL or second torque
limit limit, whichever is less limit, whichever is less
If PA2_57 is 1, the torque limit is always the TL value.

Parameter 221
(4) Third torque limit

This parameter is enabled under position or speed control.
The reference value of this parameter becomes the torque limit under the
following conditions.
• Sudden controlled stop caused by servo-on (sequence input signal) turned off
• Sudden controlled stop caused by forced stop (sequence input signal) turned off
• Sudden controlled stop caused by ±OT (sequence input signal) turned off
• Controlled stop caused by minor failure alarm (If PA2_62 is 4 or 5)
(5) Deviation holds selection at torque limit

This parameter is enabled under position control.
Position deviation is held with this function after a contact stop. Position deviation
is held so that the position deviation count does not reach the limit at the contact
stop.
The function is enabled under the following conditions. (If PA2_57 is 0)
4
CONT signal *
Torque limit for holding
PA2_59 Deviation hold selection at torque limit
Torque Torque deviation
limit 1 limit 0
OFF OFF - None
1: Second torque limit None
OFF ON
2: TREF terminal voltage TL
1: Second torque limit Second torque limit
ON OFF
2: TREF terminal voltage None
1: Second torque limit Second torque limit
ON ON
2: TREF terminal voltage TL
If PA2_57 is 1 and PA2_59 is 2, TL is TREF.

222 Parameter
[Reference example]
Example: Timing chart
To hold deviation at TL (TREF)
(Torque limit 1 = OFF, Torque limit 0 = ON)
㻷㻯 Forward rotation torque limit
Reverse rotation torque limit
Torque
limit
㻔㻘㻓㻈㻕㻓㻓㻈
㻘㻓㻈
Time
Forward rotation torque limit

Reverse rotation torque limit
Deviation is held if the
Internal torque is limited.
torque limit
㻔㻘㻓㻈
㻘㻓㻈
Time
Contact stop timing
4 Speed
Position deviation is held.
Position
deviation
Reset the position deviation

Deviation with a customer's device.
reset 㻲㻩㻩㻲㻱
PA2_61 to 63 Action sequence settings
Default
Action sequence at 3: Free-run at deceleration, free-run at stop

61 5 Power
servo-on OFF 5: Emergency stop at deceleration /, free-run at stop
3: Free-run at deceleration, free-run at stop
Action sequence at
62 5: Emergency stop at deceleration / (*1), free-run at 5 Power
alarm
stop
Action sequence at 3: Free-run at deceleration, free-run at stop
63 5 Power
main power shutoff 5: Emergency stop at deceleration /, free-run at stop
(*1) Free-run causes deceleration upon major failure alarm.

Specify the deceleration and stopping states for each condition as shown in the
previous table.
Parameter 223
PA2_64 Torque keeping time to holding brake

Default
Torque keeping time to

64 0.00 to 9.99 [s] 0.00 Always
holding brake
Assign the “brake timing” signal to the output signal.

The reference value of this parameter indicates the delay taken from shutoff of
servo-on (CONT input signal, function no.1) to free-run.
Specify a time larger than the one taken from excitation of the brake to actual brake
application.
The brake timing signal is turned off when servo-on is turned off.
PA2_65 Regenerative resistor selection

Default
65
Regenerative resistor 0: None
1 Power
4
selection 1: Internal resistor 2: External resistor
Select the regenerative resistor.

If the reference value is 1, the temperature of the regenerative resistor is calculated
inside the amplifier and monitored as a regenerative thermal value. 100% indicates
an overheated internal regenerative resistor (RH1).
To install an external regenerative resistor for elevator operation or high operation
frequency, set at 2.
If the reference value is 2, connect the thermistor of the external resistor to the
external regenerative resistor overheat (function no.34).
Because of a normally closed contact, shutoff indicates an external regenerative
resistor overheat (RH2).
PA2_66 Flying start at speed control

Default
Flying start at speed 0: No flying start

66 0 Power
control 1: Flying start
The parameter is enabled under speed control.

If servo-on is turned on during free-run operation, the speed at the timing is picked
and acceleration begins at the speed.
The speed at the timing of power-on is not picked in this case.
224 Parameter
PA2_67 Alarm detection at undervoltage

Default
Alarm detection at 0: No detection

67 1 Power
undervoltage 1: Detection
Select whether or not to detect alarms when undervoltage is detected.

The detected alarms include main power undervoltage.
PA2_69 Deviation detection overflow value

Default
Deviation detection
69 0.1 to 100.0 [rev] 15.0 Always
overflow value
Specify the value for detecting an “deviation overflow” alarm.

Enter the parameter in a rotation amount of the motor output shaft.
4
PA2_70 Overload warning value
Default
70 Overload warning value 10 to 100 [%] 50 Always
Specify the output level of the “overload warning (27) signal that is issued as an
output signal (OUT signal).
Use the signal as a warning of an “overload (OL)” alarm.
Characteristics of the overload warning are specified in “CHAPTER 9
CHARACTERISTICS.”
PA2_72 Station number

72 Station number Station No.: 1 to 31 1 Power
Specify the station number of the amplifier.

• RS-485 type: Specify the station number of each station.
PA2_73 Communication baud rate (RS-485)
Communication baud rate 0: 38400 [bps] 1: 19200 [bps]

73 0 Power
(RS-485) 2: 9600 [bps] 3: 115200 [bps]
Specify the communication baud rate of the system combined over RS-485.
Parameter 225
PA2_74 Parameter write protection

Default
74 Parameter write protection 0: Write enable 1: Write protect 0 Always
Specify parameter write protection.

Enter “1” to prohibit parameter editing. Only this parameter can be changed.
PA2_75 Positioning data write protection

Default
Positioning data write

75 0: Write enable 1: Write protect 0 Always
protection
Specify positioning data write protection.

Enter “1” to prohibit positioning data editing.
PA2_77 Initial display of the keypad

4
Default
0: Sequence mode. 1: Feedback speed. 2: Command speed.
3: Command torque. 4: Motor current. 5: Peak torque.
6: Effective torque. 7: Feedback position.
8: Command position. 9: Position deviation.
10: Command pulse frequency. 11: Feedback cumulative pulse.
Initial 12: Command cumulative pulse. 13: LS-Z pulse.
display of 14: Load inertia ratio. 15: DC link voltage (max.).
the keypad 16: DC link voltage (min.). 17: VREF input voltage.
77 0 Power
(Data 18: TREF input voltage. 19: Input signals. 20: Output signals.
displayed on 21: OL thermal value. 22: Regenerative resistor thermal value.
keypad) 23: Power (W). 24: Motor temperature. 25: Overshoot unit amount.
26: Settling time. 27: Resonance frequency 1.
28: Resonance frequency 2. 40: Station number.
41: Alarm at present. 42: Alarm history . 43: Warning at present.
44: Total time - main power supply.
46: Motor running time.
Specify the data displayed on the amplifier when the power is turned on.
PA2_78 Display transition at warning detection

Default
Display transition at 0: No transition 1: Transition to

78 0 Power
warning detection warning display
Select whether or not a warning sign is displayed on the amplifier when a “cooling
fan life expiration,” “main circuit capacitor life expiration,” or “low battery voltage”
warning is detected.
If the replacement timing is drawing near after several years of operation, change
this parameter to “1” to show a warning on the keypad in front of the servo amplifier.
226 Parameter
PA2_80 to 85 Parameter in RAM 1 to 6

Default
81 Parameter in RAM 2 0: No setting
82 Parameter in RAM 3 1 to 99: PA1_1 to 99
0 Power
If you change some parameters frequently, store them in RAM.

With this setting, you can change parameters infinitely.
Parameters that can be stored in RAM are those marked “Always” in the “Change”
field.
The parameter stored in RAM is in the default value when the amplifier is turned on.
[Setting example] 1 to 99 = PA1_1 to 99, 101 to 199 = PA2_1 to 99, 201 to 299 =
PA3_1 to 99
4
PA2_86 to 88 Positioning data in RAM 1 to 3
Default
86 Positioning data in RAM1
0: No setting
87 Positioning data in RAM2 0 Power
1 to 15: Positioning data No.
88 Positioning data in RAM3
If you change positioning data frequently, store them in RAM.

With this setting, you can change positioning data infinitely.
The positioning data stored in RAM is in the default value when the amplifier is
turned on.
Parameter 227
PA2_89 to 90 Sequence test mode: Mode selection and encoder selection

Default
Sequence test mode: 0: Normal mode

89 0 Power
Mode selection 1: Sequence test mode
Sequence test mode:
90 0: 20 bits 1: 18 bits 2: 17 bits 0 Power
Encoder selection
PA2_89 (sequence test mode):

Select 0 to start the sequence test mode from the PC Loader or keypad.
Turn the power off then on again to return to the normal mode.
Specify the encoder bit according to the type of the servomotor.
“RB2” at the end of servomotor model: 20-bit encoder. “HB2”: 18-bit encoder
PA2_89 (sequence test mode):
Select 1 to always start the sequence test mode. To return to the normal
mode, change PA2_89 to 0 and turn the power off then on again.
Specify the encoder bit according to the type of the servomotor.
“RB2” at the end of servomotor: 20-bit encoder. “HB2”: 18-bit encoder
4
PA2_90:Specify the parameter according to the connected motor encoder bit.
BSMS RB type (20 bits) = 0
BSMS HB type (18 bits) = 1
PA2_93 Parity/stop bit selection (for Modbus)

Default
0: Even parity with 1 stop bit

1: Odd parity with 1 stop bit
2: No parity with 1 stop bit
93 Parity/stop bit selection 0 Power
3: Even parity with 2 stop bits
4: Odd parity with 2 stop bits
5: No parity with 2 stop bits
Set existence and logic of a parity and a stop bit length.

Characters are organized for each setting as follows:
LSB MSB
PA2_93
0 1 2 3 4 5 6 7 8 9 10 11
0, 1 Start Data (8 bits) Parity Stop
2 Start Data (8 bits) Stop
3, 4 Start Data (8 bits) Parity Stop (2 bits)
5 Start Data (8 bits) Stop (2 bits)

228 Parameter
PA2_94 Response time (for Modbus)
PA2_95 Communications time over time (for Modbus)

Default
94 Response time 0.00 to 1.00 [s] (*) 0.00 Always
0.00 [s]͐No detection
95 Communication time over 0.00 Always
0.01 to 9.99 [s]
* The actual response time is the setting of PA2_94 or the sum of {time of 3
characters + amplifier’s processing time}, whichever is longer.
Enter the response time of the servo amplifier.
Enter the response time and communication time-over time when necessary.
PA2_97 Communications protocol selection

4 No. Name Setting range
Default
value Change
Communication protocol 0: PC Loader protocol
97 0 Always
selection 1: Modbus RTU
Select either the PC Loader protocol or Modbus RTU communications.

The factory shipment setting is “0” (PC Loader protocol). To use Modbus RTU
communications, do not fail to change to “1.”
PA2_99 Encoder selection

Default
99 Encoder selection 0: Automatic recognition㸝17㹳20bit㸞 0 Power
Set the encoder type of the connected motor.

Parameter 229
4.6 Input Terminal Function

Setting Parameter
4.6.1 List (PA3_)

No.
PA3_ value
Position Speed Torque
01 CONT1 signal assignment

4
12 CONT12 signal assignment Refer to the next
page.

26 CONT always ON 1 0
230 Parameter

No.
PA3_ value
Position Speed Torque
31 Speed command scale 5.0 -
32 Speed command offset Shipment setting -
33 Torque command scale 3.0 -
34 Torque command offset Shipment setting -
35 Zero clamp level 0 - -
36 Deviation clear input form 0 - -
Speed command fine
39 1.0000 -
adjustment gain
Torque command fine
40 1.0000 -
adjustment gain
Paremeters marked “○” in the table are enabled in the corresponding control mode.
4
PA3_01 to 05 CONT 1 to 5 signal assignment (turned on/off by hardware

CONT signal)
01 CONT1 signal assignment 1
02 CONT2 signal assignment Select among CONT 11
signal assignment
03 CONT3 signal assignment 0 Power
functions. (See next
04 CONT4 signal assignment page.) 0
05 CONT5 signal assignment 0
PA3_09 to 24 (CONT9 to 24 signal assignment) can be set only by RS-485

communications.
(1) Input terminal (CONT input signal) list

Select the input terminal function assigned to the CONT signal in the table below.
The number and the function have one-on-one relationship. To specify a desired
function, assign the corresponding number to the CONT input signal (CONT 1 to 5).
Communication data setting is enabled from CONT9 through CONT24.
However, the setting of “48” (interrupt input enable) must be assigned to from
CONT1 to 5.
For details of each function, refer to “CHAPTER 2 WIRING.”
Parameter 231
Function list
No. Name No. Name No. Name
Electronic gear
1 Servo-on [S-ON] 24 47 Override 8
numerator selection 0
Forward command Electronic gear
2 25 48 Interrupt input enable
[FWD] numerator selection 1
Reverse command
3 26 Command pulse inhibit 49 Interrupt input
[REV]
Start positioning
4 27 Command pulse ratio 1 50 Deviation clear
[START]
Multi-step speed
5 Homing [ORG] 28 Command pulse ratio 2 51
selection 1 [X1]
Multi-step speed
6 Home position LS [LS] 29 Proportional control 52
selection 2 [X2]
Multi-step speed
7 +OT 31 Pause 53
selection 3 [X3]
4
8 -OT 32 Positioning cancel 54 Free-run
10 Forced stop [EMG] 34 55 Edit permission
resistor overheat
Anti resonance
11 Alarm reset [RST] 35 Teaching 57
frequency selection 0
Anti resonance
14 ACC0 36 Control mode selection 58
frequency selection 1
16 Position preset 37 Position control 60 AD0
17 Gain switch 38 Torque control 61 AD1
19 Torque limit 0 43 Override enable 62 AD2
20 Torque limit 1 44 Override 1 63 AD3
Immediate value Positioning data
22 45 Override 2 77
continuation selection
Immediate value
23 46 Override 4 78 Broadcast cancel
change
The logic of the following signals differs between those assigned to hardware CONT
signals (CONT1 to 5) and those to communications CONT signals (CONT9 to 24).
In “Chapter 2 Wiring” the signal logic is described with the case assigned to
hardware CONT signals (CONT1 to 5).
232 Parameter
Signal logic
No. Name Hardware CONT signal: Communications CONT signal:
assigned to (CONT1 to 5) assigned to (CONT9 to 24)
7 +OT N.C. N.O.
8 -OT N.C. N.O.
10 Forced stop [EMG] N.C. N.O.
External
34 regenerative N.C. N.O.
resistor overheat
N.C.: Normally closed contact
N.O.: Normally open contact
(2) Connector pin layout

The pin layout of each signal is shown in the figure below.
Assign desired functions to signals CONT1 through CONT5.

CN1
26 M5 13 M5
4 24 *FFZ
25 FZ
11 FFB
12 *FFB
23 FFZ 10 *FFA
22 VREF 9 FFA
21 *CB 8 *CA
20 CB 7 CA
19 PPI 6 CONT5
18 TREF 5 CONT4
17 OUT3 4 CONT3
16 OUT2 3 CONT2
15 OUT1 2 CONT1
14 COMOUT 1 COMIN
PA3_26 to 30 CONT always effective 1 to 5

Default
value
26 CONT always ON 1
27 CONT always ON 2
Specify the number corresponding to
28 CONT always ON 3 0 Power
desired function (0 to 78)
29 CONT always ON 4
30 CONT always ON 5
Specify the CONT input signal that is always enabled after the power is turned on.
The normally open contact signal is always turned on. The normally closed contact
signal is always turned off.
Functions that may not be specified with a normally open signal include alarm reset,
deviation clear and free-run.
Functions that may not be specified with a normally closed signal include forced stop
and external regenerative resistor overheat. (Functions that can be specified with a
normally closed signal are +OT and -OT.)
Parameter 233
For example, to turn forward command [FWD] always on, specify “2,” which
corresponds to the forward command, to one of CONT always ON signals 1 to 5.
The signal assigned to CONT input signal can be also assigned to CONT always
enabled setting redundantly.
PA3_31 to 34 Speed and torque command scale and offset settings
Speed command scale ±1.0 / to ±100.0 [V]/ Rated rotation

31 5.0 Always
speed
32 Speed command offset -2000 to 2000 [mV] Shipment setting Always
Torque command scale ±1.0 to ±10.0 [V]/ Torque command
33 3.0 Always
offset
34 Torque command offset -20010 to 200 [10 mV] Shipment setting Always
Specify the scale (gain) and offset of the anal
og input signal.
4
Speed command scale (default value) Torque command scale (default value)
Rotation speed Output torque
Rated rotation Rated torque

speed
Offset -3.0 V Offset
-5.0 V
VREF input voltage +3.0 V TREF input voltage

+5.0 V
Rated rotation Rated torque
speed
PA3_35 Zero clamp level
35 Zero clamp level 0 to 500 [r/min] 0 Always
The parameter is enabled under speed or position control.

Rotation speeds less than the specified value are clamped (fixed) at 0 r/min.
This parameter is not affected by offsets or similar for the prevention of drifting upon
nearly zero speed command input value.
PA3_36 Deviation clear input form
Deviation clear input

36 0: Edge 1: Level 0 Power
form
Specify the deviation clear input signal format.

Select 0 (edge) to reset position deviation at the rising edge timing.
234 Parameter
PA3_39 Speed command fine adjustment gain
39 Speed command fine adjustment gain 0.8000 to 1.2000 1.0000 Always
The gain is finely adjusted in relation to the speed command.

In an X-Y table or similar where two or more servomotor axes are interpolated with
analog speed commands, you can make the D/A scale of the host unit match the
A/D scale of the servo amplifier. Interpolation accuracy is improved with this.
[Example]
If the VREF voltage is 5 V and PA3_39 is 1.0100, the speed command inside the
servo amplifier is 5.05 V (5 x 1.0100).
PA3_40 Torque command fine adjustment gain
4 40 Torque command fine adjustment gain 0.8000 to 1.2000 1.0000 Always
The gain can be finely adjusted in relation to the torque command.

The function is similar to that of PA3_39 (speed command fine adjustment gain).
[Example]
If TREF voltage is 3 V and PA3_40 is 1.0100, the torque command inside the
servo amplifier is 3.03 V (3 × 1.0100).
PA3_41～44 Address free assignment 1 to 4 (for Modbus)
Address free assignment 1 00000000 to

41 00000000 Power
(for Modbus) 99999999
42 00000000 Power
43 00000000 Power
44 00000000 Power
Parameter assignment corresponding address configuration and assignment No.

details are as follows.
Please note that the default value of 00000000 indicates the feedback speed.
Parameter 235
 Corresponding addresses:

㻱㼒㻑シᏽ⠂ᅑ
Setting range 㻱㼒㻑シᏽ⠂ᅑ
Setting range
㻳㻤㻖㼂㻗㻔㻓㻓㻓㻓㻓㻓㻓㻓㻳㻤㻖㼂㻗㻖㻓㻓㻓㻓㻓㻓㻓㻓
Corresponding Corresponding
ᑊᚺ䜦䝍䝰䜽
addresses ᑊᚺ䜦䝍䝰䜽
addresses
㻙㻓㻓㻓㻫㻙㻓㻓㻛㻫
㻙㻓㻓㻔㻫㻙㻓㻓㻜㻫
㻙㻓㻓㻕㻫㻙㻓㻓㻤㻫
㻙㻓㻓㻖㻫㻙㻓㻓㻥㻫
㻱㼒㻑シᏽ⠂ᅑ
Setting range 㻱㼒㻑シᏽ⠂ᅑ
Setting range
㻳㻤㻖㼂㻗㻕㻓㻓㻓㻓㻓㻓㻓㻓㻳㻤㻖㼂㻗㻗㻓㻓㻓㻓㻓㻓㻓㻓
Corresponding Corresponding
ᑊᚺ䜦䝍䝰䜽
addresses
ᑊᚺ䜦䝍䝰䜽
addresses
㻙㻓㻓㻗㻫㻙㻓㻓㻦㻫
㻙㻓㻓㻘㻫㻙㻓㻓㻧㻫
㻙㻓㻓㻙㻫㻙㻓㻓㻨㻫
㻙㻓㻓㻚㻫㻙㻓㻓㻩㻫
These settings are valid only for addresses 6000H to 600FH.

• If function code (FC) 17H is used:
Set as read and write data for parameters PA3_41 to PA3_42 (corresponding
4
address area 6000H to 6007H), and as read data for parameters PA3_41 to
PA3_44 (corresponding address area 6000H to 600FH).
An exception code (02h) is returned if other than the above is set.
If the same address is specified for both read data and write data, read out data is
taken to be the same as write in data (value on this occasion).
Set at least one item of read and write data. If less than this, an exception code
(03h) is returned.
Set read data for parameters PA3_41 to PA3_44 (corresponding address area
6000H to 600FH).
Set write data for parameters PA3_41 to PA3_42 (corresponding address area
6000H to 6007H).
Refer to the following items in Chapter 13 for detailed settings.

3. Function codes (FC) ---------------FC 17h (Read out/write in various data)
4. Addresses ----------------------------Data addresses
236 Parameter
4.7 Output Terminal Function

Setting Parameter
turned on again. (Check that the display (7-segment display) on the servo amplifier is
unlit when the power is turned off.)
4.7.1 List (PA3_)

No. Default
Name Power reference
PA3_ value Position Speed Torque value
51 OUT1 signal assignment
54 Unused
4 55 Unused
60 OUT10 signal assignment Refer to
61 OUT11 signal assignment the next
62 OUT12 signal assignment page.
81 Monitor 1 signal assignment 2 -
82 Monitor 2 signal assignment 3 -
83 Monitor 1 scale 7.0 -
84 Monitor 1 offset 0 -
85 Monitor 2 scale 6.0 -
86 Monitor 2 offset 0 -
87 Monitor 1/2 output format 0 -
Command pulse frequency
88 3 - - -
sampling time for monitor
Feedback speed sampling time
89 1 -
for monitor
92 Range1 of position: Setting1 0 - ‫ې‬ - -
Parameter 237
Paremeters marked “○” in the table are enabled in the corresponding control mode.
No. Default
Name Power reference
PA3_ value Position Speed Torque value

PA3_51 to 53 OUT 1 to 3 signal assignment (turned on/off by hardware OUT
signal)

51 OUT1 signal assignment Select among OUT 1
4
signal assignment
52 OUT2 signal assignment 2 Power
functions (refer to the
53 OUT3 signal assignment table on next page). 76
PA3_56 to 71 (OUT6 to 21 signal assignment) can be set only by RS-485

communications.
(1) Output terminal (OUT output signal) list

Select the input terminal function assigned to the OUT signal in the table below.
The number and the function have one-on-one relationship. To specify a desired
function, assign the corresponding number to the OUT output signal (OUT 1 to 3).
Communication data setting is enabled from OUT6 through OUT21.
For details of each function, refer to “CHAPTER 2 WIRING.”
238 Parameter
Function list
No. Name No. Name No. Name
Ready for servo-on

1 30 Data error 66 MD6
[RDY]
2 In-position [INP] 31 Address error 67 MD7
Position preset
11 Speed limit detection 32 Alarm code 0 75
completion
Alarm detection
13 Over write completion 33 Alarm code 1 76 (normally closed
contact)
Immediate value
14 Brake timing 34 Alarm code 2 79
continuation permission
Alarm detection
Immediate value
16 (normally open 35 Alarm code 3 80
continuation completion
contact)
Immediate value change
4 17 Point detection, area 1 36 Alarm code 4 81
completion
Command position
18 Point detection, area 2 38 +OT detection 82
completion
19 Limiter detection 39 -OT detection 83 Range1 of position
Home position LS
20 OT detection 40 84 Range2 of position
detection
21 Cycle end detection 41 Forced stop detection 85
detection
22 Homing completion 45 Battery warning 91 CONTa through
23 Zero deviation 46 Life warning 92 CONTb through
24 Zero speed 60 MD0 93 CONTc through
25 Speed coincidence 61 MD1 94 CONTd through
26 Torque limit detection 62 MD2 95 CONTe through
27 Overload warning 63 MD3
Servo control ready
28 64 MD4
[S-RDY]
Edit permission
29 65 MD5
response
(2) Connector pin layout

The pin layout of each signal is shown in the figure below.
Assign desired function to signals OUT1 through OUT3.
Parameter 239
CN1
26 M5 13 M5
25 FZ 12 *FFB
24 *FFZ 11 FFB
23 FFZ 10 *FFA
22 VREF 9 FFA
21 *CB 8 *CA
20 CB 7 CA
19 PPI 6 CONT5
18 TREF 5 CONT4
17 OUT3 4 CONT3
16 OUT2 3 CONT2
15 OUT1 2 CONT1
14 COMOUT 1 COMIN
PA3_81 to 87 Monitor output scale and offset settings
Default
4
1: Command speed. 2: Feedback speed.
Monitor 1 signal
81 3: Torque command. 2 Always
assignment
4: Position deviation [unit/pulse].
5: Position deviation 1/10 [units/pulse].
6: Position deviation 1/100 [units/pulse].
7: Command pulse frequency.
8: Speed deviation. 9: Motor current.
Monitor 2 signal
82 10: Effective torque. 11: DC link voltage. 3 Always
assignment 12: OL thermal value.
13: Regenerative resistor thermal value.
14: Power (W).
15: Motor temperature. 16: Command speed (filtered)
83 Monitor 1 scale ±2.0 to ±100.0 [V] 7.0 Always
84 Monitor 1 offset -50 to 50 0 Always
85 Monitor 2 scale ±2.0 to ±100.0 [V] 6.0 Always
86 Monitor 2 offset -50 to 50 0 Always
0: Monitor 1 (both voltage output) / 2 (both voltage
output)
1: Monitor 1 (single voltage output) / Monitor 2
Monitor 1/2 output (both voltage output)
87 0 Always
format 2: Monitor 1 (both voltage output) /
Monitor 2 (single voltage output)
3: Monitor 1 (single voltage output) / Monitor 2
(single voltage output)
240 Parameter
 Monitor 1/2 signal assignment

Specify the data to be output at the monitor 1 [MON1] and monitor 2 [MON2]
terminals.
Monitoring item Description Specifications

1: Command speed Speed command given to servomotor Output voltage corresponding to maximum
2: Feedback speed Actual rotation speed given to servomotor rotation speed
Torque reference value given to Output voltage corresponding to maximum
3: Torque command
servomotor torque
4: Position deviation Output voltage corresponding to 1000 pulses

Difference (deviation) between position
5: Position deviation (1/10) command and position feedback Output voltage corresponding to 10000 pulses
6: Position deviation (1/100) Output voltage corresponding to 100000 pulses
7: Command pulse frequency Input pulse frequency reference value Output voltage corresponding to 1 MHz
Difference between speed command and Output voltage corresponding to maximum
8: Speed deviation
speed feedback speed
Output voltage corresponding to maximum
9: Motor current Amperage supplied to servomotor
current
10: Effective torque Effective torque given to servomotor Output voltage corresponding to rated torque
4
11: DC link voltage DC voltage inside servo amplifier Output voltage corresponding to 400 V
12: OL thermal value Load factor OL alarm upon 100%
13:Regenerative resistor
Load factor of regenerative resistor Regenerative resistor alarm upon 100%
thermal value
Output voltage corresponding to rated rotation
14: Power (W) Motor power (W)
speed and rated torque
15: Motor temperature Internal detected temperature of encoder Output voltage corresponding to 100°C
Output voltage corresponding to maximum
16: Command speed (filtered) Speed reference value after internal filter
rotation speed
 Monitor 1/2 scale

Specify the full scale to be output at the monitor 1 [MON1] and monitor 2 [MON2]
terminals.
Specify a negative sign to reverse the polarity of the output voltage.
Though up to 100.0 V can be entered, the maximum output voltage is 11.0 V.
[Example] If the monitor 1 scale is set at 100.0 V (with a maximum rotation speed
of 6000 r/min)
Voltage [V]
㻎㻔㻓㻓㻑㻓
6000 × 11
㻎㻔㻔 = 660 r/min
100.0
㻙㻙㻓㻙㻓㻓㻓 Rotation speed [r/min]

Parameter 241
 Monitor 1/2 offset

The offset voltage between the monitor 1 [MON1] and monitor 2 [MON2]
terminals can be adjusted. The setting range is from -50 to 50 in increments of 1.
The reference value has no unit.
Every increment corresponds to about 6.1 mV.
 Monitor 1/2 output format

You can select either output on both polarity or output on single polarity, scale
and offset assigned to the monitor 1 [MON1] and monitor 2 [MON2] terminals.
Monitor 1 terminal (output on both polarity) Monitor 1 terminal (output on single porality)
Output voltage
Output voltage
+7.0 V
+7.0 V
(Max. rotation speed)
(Max. rotation speed)

4
(Max. rotation speed) (Max. rotation speed)
-7.0 V
Specify the negative sign for the monitor 1/2 scale to reverse the polarity of the
output voltage.
 Resolution of monitor 1/2 output

The resolution is 14 bits (16384) at the full scale (between -12.5 V and 12.5 V).
The resolution (*) is 1.5 mV (-12.5 to 12.5) V/214).
* While the maximum or minimum output voltage is ±11 V, ±12.5 V is used for the
calculation of the resolution.
PA3_88 Command pulse frequency sampling time for monitor
Default
Command pulse 0: 62.5 [µs] 1: 125 [µs] 2: 250 [µs],

88 frequency sampling 3: 500 [µs] 4: 1 [ms] 5: 2 [ms], 3 Always
time for monitor 6: 4 [ms] 7: 8 [ms]
Specify the command pulse frequency sampling time for monitor.

The sampling time is for the monitoring function. No effect is caused to the control
even if the value is changed.
242 Parameter
PA3_89 Feedback speed sampling time for monitor
Default
Feedback speed 0: 62.5 [µs] 1: 125 [µs] 2: 250 [µs],

89 sampling time for 3: 500 [µs] 4: 1 [ms] 5: 2 [ms], 1 Always
monitor 6: 4 [ms] 7: 8 [ms]
Specify the feedback speed sampling time for monitor.

The sampling time is for the monitoring function. No effect is caused to the control
even if the value is changed.
PA3_92 Range1 of position: Setting1
4 PA3_95 Range2 of position: Setting2
Range1 of position:
92 -2000000000 to 2000000000 [units] 0 Always
Setting1
Range1 of position:
93 -2000000000 to 2000000000 [units] 0 Always
Setting2
Range2 of position:
94 -2000000000 to 2000000000 [units] 0 Always
Setting1
Range2 of position:
95 -2000000000 to 2000000000 [units] 0 Always
Setting2
The current servomotor position is detected and output in these signals.

The output signal can be turned on or off according to the current motor position.
The parameter that can be specified for range 1 of position signal includes range 1
of position - setting 1 (PA3_92) and range 1 of position - setting 2 (PA3_93).
For example, if the setting of range 1 of position - setting 1 (PA3_92) is smaller than
the setting of range 1 of position - setting 2 (PA3_93) and the position specified for
range 1 of position - setting 1 (PA3_92) passes during forward motion, the range 1
of position signal undergoes OFF-to-ON transition. If the position specified for range
1 of position - setting 2 (PA3_93) passes, the range 1 of position signal undergoes
ON-to-OFF transition.
Similarly to the above description, range 2 of position is related to parameters
PA3_94 and 95.
This function is enabled after homing is finished.
For details of the position range, refer to “CHAPTER 2 WIRING.”
Servo Adjustment 243
5
5.1 Adjustment Procedure
Adjustment (tuning) of the servo amplifier is necessary so that the servomotor
operates according to commands sent from the host control unit.
Proceed servo amplifier tuning as in the following chart.
 Using the tuning procedure and mode selection
5
START
Synchronous Yes 5.6 Adjust in the interpolation

or interpolation operation of two or more
axes? operation mode
No
Yes
Process operation by following 5.7 Adjust in the trace
the commands? operation mode.
No
Yes
High-tact operation with the ball 5.8 Adjust in the high-tact
screw mechanism? operation mode.
No
No Review and check the

5.2 Adjust through easy
tuning. Satisfactory motion? mechanical system.
Yes
No
5.3 Adjust through auto tuning.
Satisfactory motion?
Yes
5.4 Adjust through No
auto tuning application. Satisfactory
motion?
Yes
No
5.5 Adjust through manual
tuning. Satisfactory motion?
Yes
END
244 Servo Adjustment
5.2 Easy Tuning

5.2.1 What is Easy Tuning?
Disconnect the servo amplifier from the host control unit and operate only the servo
amplifier and servomotor to automatically tune internal parameters of the amplifier.
With this function, even if the host control unit program is incomplete, the servomotor
can be operated in advance which can lead to the reduction of the setup time.
Servo amplifier Reciprocal motion,

etc.
5.2.2 Easy Tuning Operation Profile

5
Easy tuning is operated by PC Loader or keypad.
To install PC Loader, refer to “CHAPTER 14 PC LOADER.”
Start operation after checking no collision exists in the moving parts of the machine.
 To operate with PC Loader

[1] Slow running
For machines with a linear (1)
driving system, follow
the procedure below to
perform slow running before
performing easy tuning.
(3)
Turn the motor at 10 r/min
(fixed) while checking the
rotation direction and stroke.
Select “slow running” (1)
on the PC Loader screen (2)
shown on the right and
enter the “stroke setting”
and “direction selection”
parameters (2), and then
press the “START/STOP”
button (3).
Slow running is unnecessary for machines with a rotary driving system.
[2] Easy tuning

Select “easy tuning” on the aforementioned screen . Enter the “stroke,” “speed”
and other particulars and press the “START/STOP” button. Up to 25 reciprocal
motions occur while parameters are automatically tuned.
"Slow run" for rotation direction and stroke "Easy tuning" for automatic tuning
checks
Slow travel at 10 r/min Automatic tuning
 To operate with keypad

ESC
nG 5
SET(1 sec. or over) SET(1 sec. or over)
SET(1 sec. or over)
Fn12 ESC Esy ESC

ESY
Operation
confirmed
ҍ㸤Ҏ
ESC
SLr ࣬࣬࣬
ESY ESC
Slow running Easy tuning StP 8ESYDuring easy

Operation stop
completion tuning
The lit arrow moves along a figure of

eight.
• For the detailed explanation of keypad,

refer to "CHAPTER6 KEYPAD."
End
Easy tuning completion
Fault indication
If “NG1” to “NG3” is indicated during slow running, easy tuning or profile operation,
see the table below and take the corresponding action.
Indication State Action
NG1 Failure to start Check the starting conditions (see the following pages).
Check the conditions of interruption (see the following
NG2 Interrupted
pages).
Though tuning is finished,
NG3 Perform auto tuning or manual tuning to adjust again.
adjustment is necessary.
5.2.3 Description of Operation

Two operation patterns of easy tuning are described.
 Slow running
Starting conditions
Conditions for starting slow running are indicated “” in the table below.
Slow running does not start if the conditions shown below are not satisfied
(“NG1” is indicated).
If none of conditions are satisfied during operation, operation is stopped (“NG2”
is indicated).
The gain reference value at the time of the start is kept as far as no resonance is
observed.
Power supply Neither ±OT BX signal Parameter
No alarm Auto tuning*1
to main circuit nor EMG OFF write enable*2

*1) PA1_13 (tuning mode selection): other than 12 (manual tuning)

*2) PA2_74 (parameter write protection): 0 (write enable)
Operation pattern (in case of reciprocal motion)

5 The operation pattern is shown below. “P” in the table indicates the number of
the basic setting parameter (PA1_).
Rotation speed
10 [r/min]
P20
P37 P38 P22 P37 P38 Time [s]
P20
-10 [r/min]
Rotation direction
Traveling Operation Acceleration Deceleration Rotation
Timer Return
distance frequency time time speed Go stroke
stroke
P20 Once P37 P38 10 r/min P22 P23
Details of tuning
No tuning is performed in slow running.
However, the auto tuning gain is automatically decreased if resonance is
observed in the machine. In this case, the automatic notch filter function is
activated.
Details of completion of action

The action completion method includes three patterns: normal completion,
interruption by user, and faulty termination. Each profile is described below.
Faulty termination
Normal completion Interruption by user
NG2 NG3
Stopped after the specified The auto tuning gain The auto tuning The auto tuning gain
stroke action. If mechanical at the start of gain at the start of automatically changes
resonance is found, the notch operation is operation is to the one that will
filter is automatically adjusted restored. restored. suppress resonance
and the auto tuning gain (re-adjustment is
automatically decreases. necessary).
 Easy tuning
Starting condition
Conditions necessary to start easy tuning are indicated “” in the table below.
Easy tuning does not start if the following conditions are not satisfied (“NG1” is
indicated).
Easy tuning is interrupted if any condition is unsatisfied during operation (“NG2”
is indicated).
Power supply Neither ±OT nor Parameter write

No alarm BX signal OFF Auto tuning*1
to main circuit EMG enable*2
5
*1) PA1_13 (tuning mode selection): other than 12 (manual tuning)
*2) PA2_74 (parameter write protection): 0 (write enable)
Easy tuning may not function correctly in mechanisms listed below.

• Machines susceptible to vibration due to small rigidity
• Machines with large backlash
• Machines with large viscous friction
• Machines with very small rotation speed (example: 100 r/min or less)
• Machines with large load inertia of load
BSMS motor (750 W or less) : 100 times or over
BSMS motor (1kW to 3kW) : 10 times or over
• Machines with large and fluctuating load inertia
Operation profile (in case of reciprocal motion)

The operation profile is shown below. “P□□” in the table indicates the number of
the basic setting parameter (PA1_□□).
Rotation speed
P21
P20 Automat- Automat-

ically ically 24 more times
calculated calculated
P22
Automat- Automat-
P20 Time [s]
ically ically
P21
Rotation
Traveling Operation Acceleration Deceleration Rotation direction*1
Timer
distance frequency time time speed Go Return
stroke stroke
Max. 25 Automatically Automatically

P20 P21 P22*2 P23
times calculated*1 calculated*1
*1) The result of automatic calculation can be checked with the PC Loader.
*2) 1 s or less reference values are assumed to be 1 s for easy tuning.
The frequency of a reciprocal motion is 25 cycles maximum, and that of a single-

direction motion is 50 cycles maximum.
Details of tuning
Up to 50 easy tuning cycles are repeated while auto tuning gain 1 is
automatically adjusted in the range from 5 to 30.
Details of completion of action

The action completion method includes three profiles: normal completion,
interruption by user, and faulty termination. Each profile is described below.
Faulty termination
5 Normal completion Interruption by user
NG2 NG3
Completion of easy tuning is Auto tuning gain 1 at Auto tuning gain 1 at Auto tuning gain 1
indicated. the start of the start of automatically changes
Auto tuning gain 1 (range operation is operation is to the one that will
between 5 and 30) is restored. restored. suppress resonance
automatically adjusted to the (re-adjustment is
best value. necessary).
Results of easy tuning

After easy tuning is normally finished, the gain and load inertia ratio automatically
adjusted in tuning are reflected on parameters (the table below).
< The parameters set with easy-tuning >
No.: PA1_ Name
14 Load inertia ratio

51 Moving average S-curve time
Position command response time
54
constant
55 Position loop gain 1
56 Speed loop gain 1
Speed loop integration time
57
constant 1
Torque filter time constant for
59
position and speed control
87 Model torque filter time constant
88
constant
If resonance is observed during easy tuning, a notch filter is automatically set to

suppress resonance, and the filter is reflected on parameters. 5
Perform regular operation under the above status and if satisfactory actions are
obtained, there is no need to perform tuning described on following pages.
Notes on easy tuning

With easy tuning, automatic operation is performed according to functions of the
servo amplifier. Sufficient care should be taken on the safety.
If ill effects are expected to the machine due to resonance of the motor with the
mechanical system, assign the servo-on (S-ON) signal to a CONT signal before
starting easy tuning.
If a fault is found during operation, turn the signal off immediately.
If the excessive stroke cause damage to the machine, assign ± over-travel
(±OT) signals to CONT signals and install over-travel sensors at both ends of the
motion stroke before starting easy tuning.
Easy tuning for vertical transportation

When performing easy tuning with the servomotor for vertical transportation,
to prevent a carried object from falling due to its own weight, turn the servo-on
signal to ON and check that the servo lock is activated before releasing the
brake.
Then performe easy tuning, refer to P5-6 procedure.
5.3 Auto Tuning

If satisfactory results are not obtained after easy tuning, perform “auto tuning.” In this
mode, the load inertia ratio of the machine is always estimated.
The gain is adjusted to the optimal value by adjusting the parameters PA1_15 (auto
tuning gain 1) and PA1_16 (auto tuning gain 2) manually.
5.3.1 Conditions for Auto Tuning

Auto tuning may not function correctly if the following conditions are not satisfied.
• The load inertia ratio of the mechanical system is within the range shown below.
• Required time to reach 2000 r/min is 5 s or shorter with the acceleration/
deceleration time constant.
• The motor rotation speed is 100 r/min or more.
• There is no substantial load fluctuation during operation or acceleration/
deceleration.
• The friction force is not large and does not apply pressure.
5
5.3.2 Parameters Used for Auto Tuning
Parameters used for gain adjustment are listed in the table below.
No. Name Approximate reference value
PA1_13 Tuning mode selection 10: Auto tuning 11: Semi-auto tuning
No need to enter Enter a stable estimated value
(automatically updated) (or average value).
Refer to "5.3.3 Approximate Reference Value of Auto
Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.
• During auto tuning, by adjusting PA1_15 (auto tuning gain 1), other parameters
are automatically adjusted. The values are always updated.
• During semi-auto tuning, enter PA1_14 (load inertia ratio) and by adjusting
PA1_15 (auto tuning gain 1) other parameter are automatically adjusted.
Values are fixed as far as the setting is left unchanged.
5.3.3 Approximate Reference Value of Auto Tuning Gain 1

By increasing auto tuning gain, response will be improved while possibly causing
vibration or other ill effects. Change the value at intervals of about 2 points.
If resonance with the mechanical system or abnormal noises are not caused, auto
tuning gain 1 can be increased and the settling time can be decreased.
Machine configuration Auto tuning gain 1

(Division by mechanism) (Approximate reference value)
Large transfer machine 1 to 10

Arm robot 5 to 20
Belt mechanism 10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
20 to 40
ball screw
<Supplement> The parameters adjusted automatically by auto tuning

The parameters automatically adjusted by auto tuning are shown in the table
below. The parameters to be adjusted automatically are different between
PA1_15 (auto tuning gain 1) and PA1_16 (auto tuning gain 2). 5
Auto tuning gain 1 and 2
No. Name
PA1_15 PA1_16
PA1_14 Load inertia ratio Always updated when PA1_13 is set to 10 (auto)
PA1_51 Moving average S-curve time ‫ې‬ ‫ې‬
Position command response
PA1_54 ‫ې‬ ‫ې‬
time constant
PA1_55 Position loop gain 1 ‫ې‬
PA1_56 Speed loop gain 1 ‫ې‬
PA1_57 ‫ې‬
constant 1
PA1_59 ‫ې‬
position and speed contorol
Model torque filter time
PA1_87 ‫ې‬
constant
PA1_88 ‫ې‬
constant
‫ې‬: the parameters adjusted automatically by auto tuning gain
: the parameters not adjusted automatically even adjusted by auto tuning gain
5.3.4 Auto Tuning Adjustment Procedure
START
Repeat acceleration/deceleration operation.
No
Is the estimated Change to semi-auto tuning and enter the
load inertia ratio stable? ratio of moment of inertia of load.
㻼㼈㼖
Yes
Adjust auto tuning gain 1.
*1)
No
5 Satisfactory motion? Adjust auto tuning gain 2.
Yes
Yes
No
END Adjust while referring to 5.4 Auto Tuning

Application.
*1) There is no need to adjust auto tuning gain 2 under speed control.
5.4 Auto Tuning Application

If the results of “auto tuning” are not satisfactory, perform adjustment according to
“auto tuning application.” In this mode, manually enter the second gain, notch filter
and other particulars.
Conditions for adjustment are the same as those of auto tuning.
5.4.1 Parameters Used for Auto Tuning Application

Parameters used for auto tuning application adjustment are shown in the table
below.
PA1_13 Tuning mode selection 10: Auto tuning 11: Semi-auto tuning
No need to enter Enter a stable estimated
(automatically updated) value (or average value).
Refer to "5.3.3 Approximate Reference Value of
Auto Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.
Torque filter time constant for Increase in increments of 0.5 ms, starting at the 5
PA1_59
position and speed control current setting.
PA1_64 Position loop gain 2 70
PA1_65 Speed loop gain 2 70
PA1_66 70
constant 2
PA1_70 Automatic notch filter selection Select 0 (disable).
PA1_71 Notch filter 1, frequency
Use the servo analyze function of the PC Loader
PA1_72 Notch filter 1, attenuation
for adjustment.
PA1_73 Notch filter 1, width
PA1_94 Torque filter setting mode Select 0 (Not set automatically).
During auto tuning application adjustment, based on the adjustment in auto tuning,
potential manually settling parameters will be manually adjusted.
5.4.2 Notch Filter Setting Method

[1] Set PA1_70 (automatic notch filter selection) at 0 (disable).
[2] Using the servo analyze function of the PC Loader, determine the mechanical
resonance point.
Resonance
point
Gain
(2) Depth
[dB]
(3) Width
Frequency [Hz] (1) Resonance frequency
[3] Enter the resonance frequency of the mechanical resonance point and
attenuation in parameters.
(1) Resonance frequency PA1_71 (notch filter 1, frequency)
5 (2) Depth PA1_72 (notch filter 1, attenuation)
(3) Width PA1_73 (notch filter 1, width)
Excessive attenuation might undermine control stability.

Setup beyond necessity shall be avoided.
Use the servo analyze

function again.
Gain [dB]
Gain [dB]
Notch filter 1,
attenuation
Frequency [Hz] Notch filter 1, frequency

Frequency [Hz]
The notch filter is added to the resonance point

as shown in the figure above.

[4] Specify the width of the notch filter.

The width of the notch filter can be specified in four levels.
A large setting covers a wide frequency range.
A reference value of 2 is recommended in general.
Width of notch filter
Gain [dB] Narrow: setting 0
Wide: setting 3
The notch filter is added to

eliminate the resonance point.
Frequency [Hz]
Use PA1_74 to 76 to add a notch filter to two resonance points simultaneously.

By setting the parameter PA1_70 to "2", the notch filter 1 can be used as the automatic
notch filter, and the notch filter 2 as the manual notch filter.
5
5.4.3 Adjustment Procedure with Auto Tuning Application
START
Re-read out of the parameters obtained

in auto tuning adjustment.
Adjust the second gain.

(PA1_64 to 66)
Enter 0 to PA1_94 and

No
adjust the torque filter time constant
Satisfactory motion? for position and speed control.
(PA1_59)
Yes
Yes
5 No
Turn off the automatic notch

filter selection function.
Perform servo analyze to enter

the notch filter manually.
*1)
Adjust auto tuning gains 1 and 2 again.
Yes
No
Follow the procedure described

END in 5.5 Manual Tuning.

*1) Adjustment of auto tuning gain 2 is unnecessary under speed control.
5.5 Manual Tuning

If the result of “auto tuning application” is not satisfactory or if faster response is
intended, perform manual adjustment of all gains.
5.5.1 Conditions for Manual Tuning

Check the following conditions when adjusting.
• The load inertia ratio of the mechanical system is within the range shown below.
• The backlash of the mechanical system is not large and the belt is free from deflection.
• Auto tuning has been performed.
5.5.2 Parameters Used for Manual Tuning

Parameters used for gain adjustment are shown in the table in the next section.
5.5.3 Approximate Gain Reference Value

If manual tuning is performed to change parameters without performing auto tuning, the
5
control system in the servo amplifier becomes imbalanced and triggers hazard.
Be sure to perform re-read out of the parameters after auto tuning, and conduct
adjustment based on those parameters.
Approximate reference Position Speed

No. Name
value control control
PA1_13 Tuning mode selection 12: Manual tuning
Enter a stable assumed
value (or average value).
PA1_51 Moving average S-curve time 16 or over -
PA1_54 Kpt ≥ 600/Kp1 -
time constant
PA1_55 Position loop gain 1 Kp1 ≤ Kv1 × (1 to 3) -
PA1_56 Speed loop gain 1 Kv1 ≤ 2000/ (1+Jl)
PA1_57 Ki1 ≥ 500/Kv1
constant 1
PA1_58 Feed forward gain 1 Specify when necessary. -
PA1_59 0.1 ≤ Tt ≤ 1.0
Approximate values specified in the table on the previous page are reference values
for a general mechanical configuration of the transfer system.
The approximate gain reference value varies according to the configuration of the
mechanical system, load inertia ratio, etc.
Refer to the adjustment procedure below. Parameters marked “-” in the speed
control field in the table on the previous page need no adjustment.
5.5.4 Manual Tuning Adjustment Procedure
START
Select the manual tuning mode.
Re-read out of the parameters.
Enter the load inertia ratio.
Increase speed loop gain 1 to the

maximum as far as vibration or
abnormal noises are not caused.
Adjust the torque filter time constant

for position and speed control.
5 Decrease speed loop integration time

constant 1.
Increase position loop gain 1.
Decrease the moving average S-curve time and *1)

position command response time constant.
Increase feed forward gain 1. *1)
If resonance is caused in the mechanical *1)

system, check the notch filter settings again.
END
*1) Adjustment is unnecessary under speed control.

5.5.5 Individual Adjustment

The adjustment method for the individual case is described (for position control).
The method varies according to the configuration of the mechanical system and
other particulars.
Use the procedure as a basic adjustment procedure.
Before making adjustment, use historical trace of the PC Loader to measure the
action time and output timing of in-position signal.
 Adjustment for faster response (reduced settling time)

In case of shortage in travel
(1) Decrease PA1_51 (moving average S-curve time).
(2) Decrease PA1_54
(position command response time constant).
(3) Increase PA1_58 (feed forward gain 1).
(4) Decrease PA1_14 (load inertia ratio).
(Each change should be within ±10%.)
In case of overshoot
(1) Increase PA1_51 (moving average S-curve time).
(2) Increase PA1_54 5
(position command response time constant).
(3) Decrease PA1_58 (feed forward gain 1).
(4) Increase PA1_14 (load inertia ratio).
(Each change should be within ±10%.)
Speed
Motor
movement
Command
Time
Speed
Motor
movement
Command
Time
 Adjustment checking method

The overshoot unit amount and settling time can be monitored with PC Loader
during adjustment to reduce the settling time.
The motion waveform can be monitored, as well.
For details, refer to “CHAPTER 14 PC LOADER.”
5.6 Interpolation Operation

Mode
Use the “interpolation operation mode” to adjust command responses of a
system with two or more servomotor axes such as the X-Y table when performing
synchronous operation or interpolation operation.
5.6.1 Conditions for Interpolation Operation Mode

Check the following conditions to perform adjustment.
• Keep consistency in the mechanical configuration and specifications of each axis
to the largest extent (ball screw pitch, diameter, length, etc.).
• The backlash of the mechanical system is not large and the belt is free from
deflection.
• Commands sent from the host are common among axes.
5.6.2 Parameters Used for Interpolation Operation Mode

5 Parameters used for gain adjustment are shown in the table below.
PA1_13 Tuning mode selection 13: Interpolation operation mode

PA1_14 Load inertia ratio Enter a stable assumed value (or average value).
Enter while referring to "5.3.3 Approximate
Reference Value of Auto Tuning Gain 1."
PA1_51 Moving average S-curve time 0
PA1_54 5 or over
time constant
The adjustment parameters other than those in the table above are automatically
adjusted.
However, auto tuning gain 2 becomes disabled.
5.6.3 Adjustment Procedure in Interpolation Operation

Mode
START
Set the mode to semi-auto tuning.
Set the load inertia ratio.
Adjust the auto tuning gain 1.
Perform these
Is vibration or No
procedure for
noise generated?
respective axes.
Yes
Return the gain to the value when

operated normally.
5
Set the interpolation operation mode.
Adjust the moving average S-curve time.

Adjust the position command response
time constant.
Adjust the moving average S-curve Select the largest position command
time and the position command response time constant value among
response time constant for each axis. the individual adjustment results.
Satisfactory motion No
after the adjustment?
Yes
Fine-tune the position command Adjust the
response time constant. parameter of
respective axes at
the same timing
Satisfactory motion No while checking the
after the adjustment? machine motion.
Yes
Adjustment To 5.5 Manual tuning.

completion
5.7 Trace Operation Mode

Use the trace operation mode to perform the process operation by following the
commands, or to make the servomotor having two or more axes including X-Y tables
operate so as to follow the command trace.
5.1.1 Conditions for Trace Operation Mode

• Keep consistency in the mechanical configuration and specifications of each axis
to the largest extent (carrying weight, travel amount per motor rotation, etc.)
• The backlash of the mechanical system is not large and the belt is free from
deflection.
5.7.2 Parameters Used for Trace Operation Mode

The parameters used for gain adjustment are shown in the table below.
5 PA1_13 Tuning mode 14: Trace operation mode

Enter while referring to "5.3.3 Approximate
Reference Value of Auto Tuning Gain 1."
PA1_51 Moving average S-curve time 0
adjusted.
However, auto tuning gain 2 becomes disabled.
5.7.3 Adjustment Procedure in Trace Operation Mode
START
Set the mode to trace operation.
Is vibration or noise No
generated?
Yes

operated normally.
Satisfactory motion No 5
Yes
Adjust the moving average
S-curve time.
Yes

completion

5.8 Short cycle time

Operation Mode
Use the short cycle time operation mode to perform high-tact operation with the ball
screw drive, and when the semi-auto tuning adjustment has been executed with the
BSDS series.
5.8.1 Conditions for Short cycle time Operation Mode

• The mechanical configuration should be relatively rigid.
• The backlash of the mechanical system is not large.
5.8.2 Parameters Used for Short cycle time Operation

Mode
The parameters used for gain adjustment are shown in the table below.
5 No. Name Approximate reference value
PA1_13 Tuning mode 15: Short cycle time operation mode

Enter while referring to "5.3.3 Approximate Reference
Value of Auto Tuning Gain 1."
PA1_16 Auto tuning gain 2 Set the parameter by following the flow chart in 5.8.3.
adjusted.
5.8.3 Adjustment Procedure in Short cycle time Operation

Mode
START
Set the mode to short cycle time

operation.
Perform reciprocating operation.
Is vibration or noise No
generated?
‫ ۔‬To obtain the high response:
Yes
Increase the auto tuning gain 2 parameter.
operated normally. ‫ ۔‬To suppress the machine shock: 5
Decrease the auto tuning gain 2 parameter.
Yes
Adjust the auto tuning gain 2.*
Yes

completion
5.9 Profile Operation

5.9.1 What is Profile Operation?
Even if the host control unit is not connected, automatic operation can be executed
according to the specified operation pattern.
The motion continues until the user stops it. Use this feature to check the load
condition of the mechanical system, effective torque, etc.
During profile operation, parameters are not tuned.
Operate the PC Loader or keypad to perform profile operation.
Select the operation pattern and press the “START/STOP” button to start to operate.
 In case of operation at PC Loader
 In case of operation at keypad

With this method, profile operation is performed at the keypad.
• For the detailed explanation of keypad, refer to “CHAPTER6 KEYPAD.”
ESC
nG
SET (1 sec. or over) SET (1 sec. or over) SET (1 sec. or over)
Fn13 ESC
Ptn ESC
Ptn
ESC
ESC
StP 8Ptn
Operation stop During profile
completion operation

eight.
5.9.2 Description of Operation

Starting conditions
Conditions for starting profile operation are described. Necessary conditions are
indicated with “.” 5
The operation does not start if the following conditions are not satisfied (“NG1” is
indicated).
Operation is interrupted if any condition is dissatisfied during operation (“NG2” is
indicated).
The gain reference value is left unchanged at the start level as far as resonance
is not observed.
Power supply to BX signal turned Neither ±OT nor

No alarm state
main circuit off EMG

Operation pattern
The operation pattern is shown below. “P” in the table indicates the number of
the basic setting parameter (PA1_).
Rotation speed
P21
P20
Continue
P37 P38
P22
Time [s]
P37 P38 P20
P21
Rotation direction
Moving Operation Acceleration Deceleration Rotation
Timer Return
distance frequency time time speed Go stroke
stroke
P20 Continuous P37 P38 P21 P22 P23
How to stop profile operation

Profile operation is stopped by the user or upon an error*.
* The error includes the following events.
• ±OT, EMG or external regenerative resistor overheat is detected in the middle.
• The free-run (BX) signal is turned on in the middle.
• The servo-on (S-ON) signal is turned off in the middle.
5
5.10 Special Adjustment

(Vibration Suppression)
5.10.1 What is Vibration Suppression ?
 Purpose of vibration suppression
The end of the workpiece held in a structure having a spring characteristic such
as the robot arm and transfer machine vibrates during quick acceleration or
deceleration of the motor. The vibration suppression function aims at suppression
of the workpiece and realization of positioning in a shorter cycle time in such a
system.
a) Without vibration suppression function b) With vibration suppression function
Rattling No vibration
5
Laser Laser
displace- displace-
ment ment
gauge gauge
2 [min/div] 2 [min/div]
Target position Target position of arm

of arm
Actual speed Actual speed
500 [r/min/div] 500 [r/min/div]
Not only vibration of the tip of the machine but also vibration of the entire machine can
be suppressed.
• System without vibration suppression
At motor acceleration / deceleration, torque tends to reach maximum value. This
acceleration / deceleration shock could cause vibration to the entire machine.
• System with vibration suppression
Because the torque is controlled during acceleration / deceleration of the motor, the
shock of acceleration/deceleration is reduced, and even with machine that is
relatively less rigid, the vibration to the entire machine can be reduced.
 Principles of vibration suppression

A machine model is contained inside, and the control works inside the model to
eliminate vibration of the position of the assumed workpiece held in the model.
The control amount is added as an offset to the position and speed control of the
motor, thereby suppressing vibration of the actual workpiece position.
Amplifier
Position
command
Motor position/Speed control M
Position/speed offset
Vibration suppressing
control
Position of assumed
Machine model workpiece
Workpiece
 Mechanical characteristics and conditions that make vibration suppression

5 effective
Applicable machine characteristics and conditions
• Vibration is caused at the end of the arm due to the shock of traveling/stopping
of the robot arm or similar.
• The machine itself vibrates due to the shock of traveling / stopping of a part of
the machine.
• The vibration frequency is about 1 to 300 Hz.
Inapplicable mechanical characteristics and conditions

• Vibration is observed continuously without relations to traveling / stopping.
• Eccentric vibration is caused in synchronization to the rotation of the motor or
machine.
• The vibration frequency is less than 1 Hz or more than 300 Hz.
• The traveling time is less than the vibration period.
• There is backlash in the mechanical joint to the vibrating mechanism.
• (Numerator 0 of electronic gear ratio / Denominator of electronic gear ratio) >
250 (18-bit encoder)
• (Numerator 0 of electronic gear ratio / Denominator of electronic gear ratio) >
1000 (20-bit encoder)
• If the command pulse frequency is equal to or less than 20 kHz
5.10.2 Automatic Vibration Suppression

Automatic vibration suppression is a function for automatically adjusting the vibration
suppressing anti resonance frequency to the optimum value.
Follow the procedure below.
 Automatic vibration suppression setting procedure

[1] Set PA1_77 (automatic vibration suppression selection) at 1 (enable).
[2] Perform profile operation or issue position commands from the host unit to start
and stop the servomotor nine times.
[3] Set the dwell at 1.5 s or over.
[4] After operation is normally finished, the optimum value is automatically stored in
PA1_78 (vibration suppressing anti resonance frequency 0).
[5] Upon a fault (if no effect is verified), PA1_78 (vibration suppressing anti
resonance frequency 0) remains the default value.
[6] After normal or faulty completion, PA1_77 (automatic vibration suppression
selection) automatically changes to 0 (disable).
* The applicable frequency is 1 to 100 Hz.
If the procedure is interrupted at eight or fewer cycles and the main power is turned
off, the cycle count begins from 1 again. 5
 Learning state of automatic vibration suppression
Use the monitor of the PC Loader to monitor the learning state of the automatic
vibration suppression.
If no expected effect is obtained under automatic vibration suppression, refer to

the following “5.10.3 Manual Adjustment of Vibration Suppression.”
5.10.3 Manual Adjustment of Vibration Suppression

 Adjustment flow chart
(1) Adjust the servo gain.
Check the vibration suppressing

(2)
anti resonance frequency.
Enter the vibration suppressing anti

(3) resonance frequency
(parameters PA1_78, 80, 82 and 84).
Enter the S-curve * May not be entered in case of

(4)
(parameters PA1_51, 52). auto or semi-auto tuning.
(5) Check the effects.
5
Finely adjust the vibration suppressing anti
(6) resonance frequency
Adjust the inertia ratio of vibration

(7) suppressing workpiece
(1) Adjusting the servo gain

To ignore the vibration of the tip of the machine and reserve smooth stopping
action of the servomotor free from overshoot, refer to the description given in
sections 5.1 through 5.5 to adjust the servo gain.
If gain-related parameters are adjusted after the vibration suppressing anti resonance
frequency is set, the vibration suppressing anti resonance frequency must be adjusted
again. Perform gain adjustment first.
(2) Checking the vibration suppressing anti resonance frequency

Using the PC Loader
Use the servo analyze function to check the vibration suppressing anti resonance
point.
Resonance
Gain point
(Note 2)
[dB]
Vibration
suppressing anti
resonance point
(Note 1)
Frequency [Hz]
Note 1 The vibration suppressing anti resonance point may not be observed with
the servo analyze function in the following machine configuration.
• Machine with large friction
• Machine with relatively large mechanical loss such as reduction gear and 5
ball screw
Note 2 Use the notch filter for the resonance point.
What are the resonance point and vibration suppressing anti resonance point?
Vibration of the machine includes the "resonance point" and "vibration suppressing anti
resonance point."
The "resonance point" and "vibration suppressing anti resonance point" mentioned
here are machine characteristics viewed from the motor.
"Resonance point": Frequency at which the motor vibrates without arm tip vibration
"Vibration suppressing anti resonance point": Frequency at which the arm tip vibrates
without vibration of the motor shaft
In general, the vibration suppressing anti resonance frequency is less than the
resonance frequency.
Not using the PC Loader

There are two checking methods.
If measurement of the vibration frequency can be made with a laser displacement
gauge or similar, adopt method 1). In other cases, adopt method 2).
1) Measure the vibration of the arm tip with a laser displacement gauge or similar.
Frequency of vibration (Ts)

Vibration
Time
1
Vibration suppressing anti resonance frequency = [Hz]
Ts
2) Starting at 300.0 Hz (maximum setting), decrease the reference values of

parameters PA1_78, 80, 82 and 84 gradually while visually checking vibration, to
5 find the best value.
(3) Entering the vibration suppressing anti resonance frequency

Enter the vibration suppressing anti resonance frequency obtained in step (2) to
one of parameters PA1_78, 80, 82 and 84*.

PA1_78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] 㻖㻓㻓㻑㻓 Always


* Parameters for up to four points can be entered.

While combining the "anti resonance frequency selection 0" and "anti resonance frequency

selection 1" CONT input signals, up to four points can be specified.
The vibration suppressing anti resonance point may vary according
to the arm length and weight of the load.

㸝a㸞㸝b㸞㸝c㸞
The vibration suppressing anti

resonance frequency varies according
to conditions a, b and c.

In such a case, assign this function to CONT input signals and switch the vibration
suppressing anti resonance frequency setting.
Anti resonance frequency Anti resonance frequency Vibration suppressing anti
selection 1 selection 0 resonance frequency
OFF OFF PA1_78
*

OFF ON PA1_80

ON OFF PA1_82
5
ON ON PA1_84

* This signal is always handled to be turned off if it is not assigned to the sequence input
signal. In this case, PA1_78 (vibration suppressing anti resonance frequency 0) is always

enabled.

To disable the vibration suppressing anti resonance frequency, set the vibration suppressing
anti resonance frequency at 300.0 Hz.

Be sure to switch while the motion is stopped. Otherwise shock will be caused.
(4) Entering the S-curve

To attain effective vibration suppression, enter the S-curve.
Enter either PA1_51 (moving average S-curve time*) or PA1_52 (low-pass filter
for S-curve time constant).
The approximate reference value is shown below.

PA1_51 Moving average S-curve time* 0.2 to 500[× 0.125 ms] 20 Always
PA1_52 low-pass filter for S-curve time constant 0.0 to 1000.0[ms] 0.0 Always
* Cannot be set during auto or semi-auto tuning.

䃇/䃈*1 ӊ 50 (PG=18 bit) 50 < 䃇/䃈*1 ӊ 250 (PG=18 bit)

PA1_78/80/82/84 䃇/䃈*1 ӊ 200 (PG=20 bit) 200 < 䃇/䃈*1 ӊ 1000 (PG=20 bit)
(Vibration suppressing anti
resonance frequency) PA1_51*2 PA1_52 PA1_51*2 PA1_52
(Moving average S- (Low-pass filter for S- (Moving average S- (Low-pass filter for S-
curve time) curve time constant) curve time) curve time constant)
< 10 Hz 80 10 ms 160 20 ms
10 Hz to 20 Hz 40 5 ms 80 10 ms
> 20 Hz 16 to 24 2 to 3 ms 40 5 ms
*1 䃇 PA1_06 (numerator 0 of electronic gear)

=
䃈 PA1_07 (denominator of electronic gear)

* 2 Cannot be set during auto or semi-auto tuning.
(5) Checking the effects

There are three checking methods.
(1) Observe vibration of the arm tip with a laser displacement gauge or similar
measuring instrument.
(2) Take a motion picture of the arm tip with a high speed video to check
vibration.
5 (3) Visually observe.
The vibration suppressing anti resonance frequency is not reflected on the servo
analyze function even if it is entered.
Gain
Anti resonance
point remains.
Frequency
(6) Finely adjusting the vibration suppressing anti resonance frequency

While checking effects of vibration suppression, finely adjust the reference value
(in increments of 0.1 or 0.2).
(7) Entering the vibration suppressing workpiece inertia ratio

Ratio of the inertia of the vibrating point such as the arm specifies the portion of
the total load inertia. By setting the vibration suppressing workpiece inertia ratio
which is equivalent to amount to be applied when receiving reaction force from
mechanical system (workpiece), the vibration can be further suppressed.
Setting method
[1] Calculate the inertia of the vibrating point according to specifications of the
machine.
Vibration suppressing Vibrating point inertia

=
workpiece inertia ratio Entire load inertia
[2] Entering with the PC Loader

(1) Check the anti resonance frequency and resonance frequency by using the
servo analyze function.
(2) Select [Parameter Edit] - [PA1: Control Gain - Filter Setting] and press the
“enter vibration suppressing anti resonance frequency” button to open the
exclusive window.
Enter the anti resonance frequency and resonance frequency* to
automatically calculate the ratio of inertia of the workpiece.
* The resonance frequency is not the resonance frequency suppressed with the
notch filter.
Use the servo analyze function to check this resonance frequency.
This resonance frequency appears as a set with the anti resonance frequency,
and it is about two times the anti resonance frequency.
[Example of resonance frequency]
Gain
Resonance frequency: about 90 Hz
Anti resonance frequency: about 45 Hz
Frequency
Keypad 283
6
6.1 Display
The servo amplifier is equipped with a keypad (see the
figure on the right).
The keypad is fixed.
The keypad is equipped with four-digit seven-segment
LEDs (1), four keys (2) (lift the front cover).
(1)
Numbers and letters are displayed on the four-digit
seven-segment LEDs. (2)
Keys are [MODE/ESC], [∧], [∨], [SET/SHIFT] from the
leftmost one.
6.1.1 Mode
The keypad functions in seven modes.
• Sequence mode: The control and operation statuses of the servo amplifier are
displayed.
• Monitor mode: Various servomotor states, I/O signals and so on are monitored.
• Station number mode: The station number specified with a parameter is displayed.
• Maintenance mode: Alarm at presents and alarm history are displayed.
• Parameter edit mode: Parameters can be edited.
• Positioning data edit mode: Positioning data can be edited.
• Test operation mode: Servomotor operates through key operation at the keypad.
0 1 2 3 4 5 6 7 8 9 -
7-segment display
A b C d E F G H i J L

n o P q r S t U v y
284 Keypad
6.1.2 Key
[SET/SHIFT]
[MODE/ESC] The cursor digit shifts to the right
The mode is switched (MODE). (SHIFT).
The mode is deselected (ESC). The mode or value settles (SET).
Press and hold for at least one
second to settle.
[∧]
The sub mode is selected. [∨]
The value increases by one (+1). The sub mode is selected.
The value decreases by one (-1).
• To show five or more digits, alternate the upper and lower four digits.
• To show nine or more digits, alternate the upper, middle and lower four digits
sequentially.
6.1.3 Blinking Display

The keypad display blinks with some statuses.
The table below shows the statuses and contents regarding blinking display.
6 Blink interval
0.5 sec cycle
Duration
Continuously
Status
Alarm
How to recover
Cycle the power or reset the alarm.
Parameter being
0.5 sec cycle 3 sec -
confirmed
During sequence test Cycle the power, or cycle the power
Once every 2 sec Continuously
mode after changed to PA2_89 = 0.
Twice every 2 sec Continuously Cycle the power.* Cycle the power.
* When a parameter which becomes enabled after cycling the power is changed.
6.1.4 Displaying Upper/middle/lower Data

The display of the item described with U㸤
L is shown with upper/middle/lower
digits.
---- Blinks three times: upper digits
Blinks three times: middle digits

----
Blinks three times: lower digits
----
* With some items the middle digit display is not used.
Keypad 285
6.1.5 Mode Selection

Use the [MODE/ESC] key to select each mode.
Mode selection Sub mode selection Indication example
The power is turned on.
Sequence mode
Sn01 ~PoF
[MODE/ESC]
Monitor mode
on01 6000
[MODE/ESC]
Station number mode

An01 001
[MODE/ESC]
Maintenance mode
En01 nonE
[MODE/ESC]
Parameter edit mode

6
PA01 P1.01
[MODE/ESC]
Positioning data edit mode

Po01 no.01
[MODE/ESC]
Test operation mode

Fn01 JG
[MODE/ESC]
286 Keypad
6.2 Function List

In the parameter edit mode and the positioning data edit mode reference values can
be checked and changed.
Mode Sub mode Sub mode selection Indication and entry example
Sequence mode Sequence mode Sn01 ~PoF

Amplifier setting
Sn02 ud

Motor setting
Sn03 S-7
Monitor mode Feedback speed on01 6000
Command speed
on02 6000
Command torque
on03 300
6 Motor current
on04 300
Peak torque
on05 300
Effective torque
on06 300
Feedback position
on07 99
Command position
on08 09
Position deviation
on09 00
Command pulse
frequency on10 1
Feedback cumulative
pulse on11 00
Command
cumulative pulse on12 00
LS-Z pulse
on13 104
Load inertia ratio
on14 300.0
DC link voltage (max.)
on15 300
Keypad 287
Monitor mode DC link voltage (min.)

on16 300
VREF input voltage
on17 10.00
TREF input voltage
on18 10.00
Input signals
on19 ii
Output signals
on20 ii
OL thermal value
on21 001
Regenerative resistor
thermal value on22 010
Power (w)
on23 300
Motor temperature
on24 020
Overshoot unit amount
on25 00 6
Settling time
on26 1
Resonance frequency 1
on27 2000

Resonance frequency 2
on28 2000

Station number mode Station number display
An01 031
Maintenance mode Alarm at present En01 nonE
Alarm history
En02 no.01
Warning at present
En03 0111
288 Keypad
Maintenance mode Total time-main power

supply En04 6
Total time - control power
supply En05
Motor running time
En06 05.09
Parameter edit mode Parameter page 1
PA01 P1.01
Parameter page 2
PA02 P2.01
Parameter page 3
PA03 P3.01
Positioning data edit mode
Positioning status
Pd 1 A.00.
6
Target position
Pd 2 -20
Rotation speed
Pd 3 60
Stand still timer
Pd 4 6
M code
Pd 5 FF
Acceleration time
Pd 6 99
Deceleration time
Pd 7 99
Keypad 289
Test operation mode Manual operation

Fn01 JG
Position preset
Fn02 PrSt
Homing
Fn03 orG
Automatic operation
Fn04 AUt
Alarm reset
Fn05 AL.rt
Alarm history
initialization Fn06 AL.in
Parameter initialization
Fn07 PA.in
Positioning data
initialization Fn08 Po.in
Auto offset adjustment
Fn09 A.oF
6
Z-phase offset
adjustment Fn10 Z.off
Auto tuning gain
Fn11 At.tn
Easy tuning
Fn12 SLr
Profile operation
Fn13 Ptn
Sequence test mode
Fn14 Sq.tS
Teaching
Fn15 tEcH
290 Keypad
6.3 Sequence Mode

In the sequence mode, the state of the servo amplifier and amplifier setting are
displayed.
Press the [MODE/ESC] key until [Sn01] is displayed, and press and hold the [SET/
SHIFT] key for at least one second to show data.
Sn01㸯 Sequence mode

Sn02㸯 Amplifier setting
Sn03㸯 Motor setting
Key notation
In this chapter, keypad keys may be simply described as shown below.
• [MODE/ESC] key
When using as a [MODE] key: MODE
When using as an [ESC] key: ESC
• [SET/SHIFT] key
When using as a [SET] key: SET (for at least one second)
6 When using as a [SHIFT] key: SHIFT
(1) Sequence mode

The status of the output signal of the servo amplifier and operation status are
displayed.
Sn01
ESC SET (1 sec. or over)
~PoF
Zero speed
Speed coincidence
--PoF
Ready -
Keypad 291
Control
Display Name Description
mode
The motor is not turned on.
~PoF Servo off
The servomotor has no driving force.
-
- Pon Servo on The servomotor is ready to rotate.
--PJG Manual operation Manual feed rotation state
_PPi Pulse operation During pulse input operation

Automatic
--PAt operation
Positioning is being executed.
Position
--Por control
Homing Homing is being executed.
Interrupt
_Pit positioning
Interrupt positioning is being executed.
-
- Pot +OT The positive over-travel signal is being detected.
- The negative over-travel signal is being detected.

- Pot -OT
The display alternates between "P" and "-" .
~Pn0 Zero speed stop Stopped at zero speed due to forced stop signal
In undervoltage. For details, see the pages about
~pLu In LV
6
undervoltage on page 7-10.
- noF The motor is not turned on.
Servo off
-- non Servo on The servomotor is ready to rotate.
--nJG Manual operation Manual feed rotation state

- Speed
- not control
+OT The positive over-travel signal is being detected.
- The negative over-travel signal is being detected.
- not -OT
The display alternates between "n" and "-" .
~nn0 Zero speed stop Stopped at zero speed due to forced stop signal
~nLu In LV
- toF The motor is not turned on.
Servo off
-- ton Torque
Servo on The servomotor is ready to rotate.
control
_tJG Manual operation Manual feed rotation state
~tLu In LV
292 Keypad
When the servo amplifier power is turned on, "sequence mode operation mode" is shown.
The indication contents at power-on can be changed with parameter PA2_77.

Reference Reference
Initial display Initial display
value value
0 Sn01 Sequence mode 19 on19 Input signals
1 on01 Feedback speed 20 on20 Output signals
2 on02 Command speed 21 on21 OL thermal value

Regenerative
3
on03 Command torque 22 on22 resistor thermal
value
4 on04 Motor current 23 on23 Power (W)
Motor
5 on05 Peak torque 24 on24 temperature
Overshoot unit
6 on06 Effective torque 25 on25 amount
7 on07 Feedback position 26 on26 Settling time
Resonance
8 on08 Command position 27 on27 frequency 1
6 9 on09 Position deviation 28 On28 Resonance
frequency 2
Command pulse
10 on10 40 An01 Station number
frequency
Feedback
11 on11 41 En01 Alarm at present
cumulative pulse
Command
12 on12 42 En02 Alarm history
cumulative pulse
Warning at
13 on13 LS-Z pulse 43 En03 present
Total time-main
14 on14 Load inertia ratio 44 En04 power supply
DC link voltage Motor running
15 on15 (max.)
46 En06 time
DC link voltage
16 on16
(min.)
VREF input
17 on17 voltage
TREF input
18 on18 voltage
Keypad 293
U㸤
(2) Amplifier setting L
The servo amplifier control function, interface format and capacity are displayed.
Sn02
SET (1 sec. or over)
----
Blinks three times.
ESC
Indication Control Indication Interface
ud DI/DO

2nd digit
u Speed control 1st digit
d standard
SHIFT
Indication Capacity
----
ESC
Blinks three times.
500 0.05 kW
500 6
152 1.5 kW
U㸤
(3) Motor setting L
The type of servomotor connected to the servo amplifier, capacity and encode type
are displayed.
Sn03
digit Indication
3rd Motor type
---- 1st digit Indication Interface
Blinks three times.

ESC
b BSMS
6 18-bit ABS

S BSMS S-7 7 20-bit INC

SHIFT
---- Blinks three times.

Indication Rated output capacity
ESC
101 0.1 kW
500
302 3.0 kW
294 Keypad
6.4 Monitor Mode

In the monitor mode, the servomotor rotation speed, cumulative input pulse and so
on are displayed. Press the [MODE/ESC] key until [on01] is displayed, and press
and hold the [SET/SHIFT] key for at least one second to display data.
on01 : Feedback speed on11 : Feedback cumulative on21 : OL thermal value

pulse
on02 : Command speed on12 : Command cumulative on22 : Regenerative resistor
pulse thermal value
on03 : Command torque on13 : LS-Z pulse on23 : Power (W)
on04 : Motor current on14 : Load inertia ratio on24 : Motor temperature
on05 : Peak torque on15 : DC link voltage (max.) on25 : Overshoot unit amount
on06 : Effective torque on16 : DC link voltage (min.) on26 : Settling time
on07 : Feedback position on17 : VREF input voltage on27 : Resonance frequency 1
on08 : Command position on18 : TREF input voltage on28 : Resonance frequency 2
on09 : Position deviation on19 : Input signals
on10 : Command pulse frequency on20 : Output signals
(1) Feedback speed (displayed digits: signed four digits)

6 Current rotation speed of servomotor.
on01 The correct value is displayed even if the load (mechanical

system) rotates the motor.
ESC SET
(1 sec. or over) The speed is displayed in r/min and a negative sign is
attached for reverse rotation (clockwise rotation when
6000 viewed against the motor shaft).
With a negative data
6000 -000
The figure and "-" symbol are displayed alternately.
(2) Command speed (displayed digits: signed four digits)
Current speed command issued to the servomotor. The

command speed is given in a speed command voltage,
on02 multi-step speed, pulse or similar. The speed is displayed
ESC SET
(1 sec. or over) in r/min and a negative sign is attached for reverse rotation
(clockwise rotation when viewed against the motor shaft).
6000
6000 -000
Keypad 295
(3) Command torque (displayed digits: signed three digits)

Average torque issued from the servo amplifier to the
on03 servomotor; the torque is displayed in percent to the rated
ESC SET torque. The range from 0% to the maximum torque is
(1 sec. or over)
displayed in increments of 1. In case of a negative average
torque, a negative sign is attached to the most significant
-300 digit.
(4) Motor current (displayed digits: signed three digits)

Current flowing through the servomotor; the current is
on04 displayed in percent to the rated current. The range from
ESC SET 0% to the maximum current is displayed in increments of 1.
(1 sec. or over)
In case of a negative motor current, a negative sign is
attached to the most significant digit.
-300
(5) Peak torque (displayed digits: signed three digits) 6

Peak torque value of the servomotor at every two seconds;
on05 the torque is displayed in percent to the rated torque.
ESC SET The range from 0% to the maximum torque is displayed in
(1 sec. or over) increments of 1. In case of a negative peak torque, a
negative sign is attached to the most significant digit.
-300
(6) Effective torque (displayed digits: signed three digits)

The load ratio of the servomotor; displayed in percent to
on06 the rated torque.
ESC SET The range from 0% to the maximum torque is displayed in
(1 sec. or over)
increments of 1.
-300
296 Keypad
U㸤
(7) Feedback position (displayed digits: signed 10 digits) L
The rotation amount of the servomotor is displayed in the

unit amount after correction with an electronic gear. If the
on07 electronic gear is unused, the data indicates the exact
rotation amount of the motor shaft encoder (1048576
pulses/rev for the 20-bit serial encoder).
----
SET
(1 sec. or over)
99 With a negative data
SHIFT
- 99
----
Blinks three times.
6 ESC
9999 -999
SHIFT

ESC
9999 -999
Keypad 297
U㸤
(8) Command position (displayed digits: signed 10 digits) L
The position of the servomotor controlled by the servo
on08 amplifier is displayed in the unit amount after correction

with an electronic gear. If the operation command is turned
SET
(1 sec. or over) off and the load (mechanical system) rotates the motor
after the target position is reached, the position is not
---- correct.
ESC
99
SHIFT
- 99
---- 6
Blinks three times.
ESC
9999 -999
SHIFT The figure and "-" symbol are displayed alternately.
ESC
9999 -999
298 Keypad
U㸤
(9) Position deviation (displayed digits: signed 10 digits) L
The difference between the command position and

on09 feedback position is displayed. The unit of deviation
SET amount follows the deviation unit selected in PA1_31.
(1 sec. or over)
----
Blinks three times.
ESC
- 99
----
Blinks three times.
ESC
6 9999 With a negative data
9999 -999

ESC
9999 -999
Keypad 299
U㸤
(10) Command pulse frequency (displayed digits: signed five digits) L
The pulse frequency supplied to the pulse input terminal

on10 is displayed. The value is displayed in 0.1 kHz.
SET The displaying range is from -1000.0 to 1000.0 kHz.
(1 sec. or over)
----
Blinks three times.
ESC
- 1
SHIFT

ESC
6
000.0 With a negative data
000.0 -00.0
300 Keypad
U㸤
(11) Feedback cumulative pulse (displayed digits: signed 10 digits) L
The cumulative pulses of servomotor rotation amount are

on11 displayed in encoder pulses (1048576 pulses per
SET revolution with 20-bit serial encoder). Reverse rotation
(1 sec. or over)
decreases the cumulative value. Even if the load
---- (mechanical system) rotates the motor, the correct value
Blinks three is displayed.
ESC times.
- 99
SHIFT
----
Blinks three times.
ESC
6
9999 -999

ESC
9999 -999
Press and hold the [∧] and [∨] keys simultaneously for at least one second to reset the
feedback cumulative pulses.
Keypad 301
U㸤
(12) Command cumulative pulse (displayed digits: signed 10 digits) L
The number of pulses supplied to the pulse input terminal

on12 is displayed. The cumulative value increases upon forward
SET
(1 sec. or over) direction pulses, while it decreases upon reverse direction
pulses. With two signals at A/B phase pulse, each edge is
---- counted (multiple of four). The count increases upon
Blinks three B-phase advance.
ESC times.
- 99
SHIFT
----
Blinks three times.
6
ESC
9999 -999
SHIFT

ESC
9999 -999
Press and hold the [∧] and [∨] keys simultaneously for at least one second to reset the
feedback cumulative pulses.
302 Keypad
U㸤
(13) LS-Z pulse (displayed digits: unsigned seven digits) L
The number of pulses in a homing counted since the home

on13 position LS signal is turned off until the Z-phase of the
SET encoder of the servomotor is detected is displayed. The
(1 sec. or over)
indication is updated every time homing is performed.
---- Because the value is in the homing direction, no negative
Blinks three sign is attached.
ESC times. • Displayed only if the Z-phase is enabled.
100
SHIFT

ESC
0000
6
(14) Load inertia ratio (displayed digits: unsigned four digits)
The load inertia ratio recognized by the servo amplifier
on14 without relations to parameter PA1_13 (tuning mode

selection) is displayed. The value is displayed in a multiple
ESC SET
(1 sec. or over) (in 0.1 increments) to the inertia of the servomotor itself.
The displaying range is from 0.0 to 300.0 times.
300.0
(Load inertia recognized by servo amplifier)
(Load inertia ratio) =
(Inertia of servomotor itself)
(15) DC link voltage (max.) (displayed digits: unsigned three digits)

The DC link voltage (max.) of the servo amplifier at every
on15 two seconds is displayed.

The displaying range is from 0 to 500 V.
ESC SET
(1 sec. or over)
300
If the DC link voltage (max.) exceeds 390 V during operation, an external regenerative
resistor is necessary. "HV" (overvoltage) is detected at 420 V.
Keypad 303
(16) DC link voltage (min.) (displayed digits: unsigned three digits)
The DC link voltage (min.) of the servo amplifier at every

on16 two seconds is displayed.
ESC SET The displaying range is from 0 to 500 V.

(1 sec. or over)
300
"LV" (under-voltage) is detected at 200 V.
(17) VREF input voltage (displayed digits: signed four digits)
The input voltage of the analog input terminal [VREF] is

on17 displayed in 0.01 V. The negative sign indicates a negative
ESC SET voltage.
(1 sec. or over)
10.00 With a negative four-digit data

6
10.00 -0.00
(18) TREF input voltage (displayed digits: signed four digits)
The input voltage of the analog input terminal [TREF] is

on18 displayed in 0.01 V. The negative sign indicates a negative
ESC SET voltage.
(1 sec. or over)
10.00 With a negative data
10.00 -0.00
304 Keypad
U㸤
(19) Input signals L
The ON/OFF status of sequence input signals supplied to

on19 SET
the servo amplifier is displayed.
The corresponding LED lights up when the input signal is
(1 sec. or over)
turned on.
---- While all the input signals are off, the display shows “nonE.
Blinks
three times.
ESC
11111111 11111111
SHIFT CONT 24࣬࣬࣬࣬CONT 17
Blinks
---- three times. CONT 16࣬࣬࣬࣬࣬࣬CONT 9
ESC
11111111 11111111
6
U㸤 CONT 8࣬࣬࣬࣬࣬࣬CONT 1
(20) Output signals L
on20 The ON/OFF status of sequence output signals issued by

SET the servo amplifier is displayed.
(1 sec. or over) The corresponding LED lights up when the output signal is
---- turned on.
Blinks
While all the output signals are off, the display shows
ESC three times. “nonE.
11111111
SHIFT
11111111
OUT 21࣬࣬࣬࣬OUT 17
ESC
---- Blinks
three times.
OUT16࣬࣬࣬࣬࣬࣬OUT 9
11111111
11111111
OUT 8࣬࣬࣬࣬࣬࣬OUT 1
Keypad 305
(21) OL thermal value (displayed digits: unsigned three digits)

The load ratio to the load alarm level is displayed in
on21 percent. An overload alarm is caused if this value reaches
ESC SET 100. The minimum increment is 1. The displaying range is
(1 sec. or over) from 0 to 100%.
100
࣬OL thermal value date when servo amplifier is shut-down is memorized on EEPROM
and servo amplifier starts thermal operation from the memorized value when main
power is ON.
(22) Regenerative resistor thermal value (displayed digits: unsigned three digits)
The regeneration load ratio to the regenerative resistor
on22 overheat alarm level is displayed in percent. A regenerative

resistor overheat alarm is caused if this value is 100. The
ESC SET
(1 sec. or over) regeneration load ratio is calculated for amplifier frame
100
no.2 or above if PA2_65 (regenerative resistor selection) is
set at 1 (internal resistor).
6
The minimum increment is 1. The displaying range is from
0 to 100%.
(23) Power (w) (displayed digits: signed three digits)
The servomotor power (w) is displayed in percent to the

on23 rating.
ESC SET The data is displayed in the range from 0 to 900% in
(1 sec. or over) increments of 1.
(24) Motor temperature (displayed digits: unsigned three digits)
The servomotor temperature is displayed. The range from

on24 0 to 120°C is displayed in increments of 1°C.
ESC SET
(1 sec. or over)
120
306 Keypad
U㸤
(25) Overshoot unit amount (displayed digits: signed 10 digits) L
on25 The overshoot unit amount under position control is

displayed.
SET
(1 sec. or over) The unit follows the deviation unit selected in PA1_31.
----
Blinks three times.
ESC
- 00
SHIFT
----
Blinks three times.
ESC
6 0000 With a negative data
0000 -000

ESC
0009 -009
Keypad 307
U㸤
(26) Settling time (displayed digits: unsigned five digits) L
on26 The settling time under position control is displayed.

The displaying range is from 0 to 1000.0 ms. If the settling
SET
(1 sec. or over) time exceeds 1000.0 ms, "1000.0 is displayed.
----
Blinks three times.
ESC
1
SHIFT

ESC
000.0
6
(27) Resonance frequency 1 (displayed digits: unsigned four digits)
The resonance frequency recognized by the servo

on27 amplifier is displayed.
ESC SET The displaying range is from 50 to 2000 Hz. If no
(1 sec. or over)
resonance is detected, "4000" is displayed.
2000
(28) Resonance frequency 2 (displayed digits: unsigned four digits)
The resonance frequency recognized by the servo

on28 amplifier is displayed.
ESC SET The displaying range is from 50 to 2000 Hz. If no
(1 sec. or over) resonance is detected, "4000" is displayed.
2000

308 Keypad
6.5 Station Number Mode

In the station number mode, the station number of the servo amplifier is displayed
and a new station number can be entered.
Press the [MODE/ESC] key until [An01] is displayed, and press and hold the [SET/
SHIFT] key for at least one second to display data.
An01: Station number

- 031
Communication time over
An01
ESC
031 Displays the station number currently set in the

parameter.
ESC
6 031 Entering the edit mode, the third digit blinks.
SHIFT
ESC
031 The second digit blinks by pressing the SHIFT
key.
SHIFT
ESC
031 The first digit blinks by pressing the SHIFT key.
ҍ㸤Ҏ
ESC
030 By pressing the [∧] and [∨] keys the value at

blinking digit is increased or decreased.
ESC
030 When the change is executed, all the digits

blinks three times.
Turn the power off and on again to enable the new station number.
Keypad 309
6.6 Maintenance Mode

In the maintenance mode, detected alarms, total time - main power supply and so on
are displayed.
Press the [MODE/ESC] key until [En01] is displayed and press and hold the [SET/
SHIFT] key for at least one second to display data.
En01 : Alarm at present En04 : Total time - main power supply
En02 : Alarm history En06 : Motor running time
En03 : Warning at present
(1) Alarm at present

The alarm detected currently is displayed in a code.
• If the alarm reset is executed, the display will automatically return to the
initial one. After an alarm is detected, the following is displayed automatically.
Supplementary data to the alarm can be displayed, too.
En01
6
oL1
(Total time-main power

rc01 supply) rc08 (Motor current)
Unused (Effective torque)

rc02 rc09
rc03 (Motor running time)
rc10 (DC link voltage)
ҍ㸤Ҏ
rc04 (Feedback speed)
rc11 (EC error count)
(Feedback speed before

rc05 five min)
rc12 (Command position)
(Command speed)
rc06 rc13 (Sequence mode)
(Command torque)
rc07
ҍ㸤Ҏ
9999
310 Keypad
 Alarm display
Order display Name Order display Name
1 oc1 Overcurrent 1 15 oL2 Overload 2

Inrush Current
2 oc2 Overcurrent 2 16 rH4 Suppression Circuit
Trouble
Main Power
3 oS Overspeed 17 LuP Undervoltage
Internal Breaking
㸩 Hu Overvoltage 18 rH1 Resistor Overheat
External Breaking
5 Et1 Encoder Trouble 1 19 rH2 Resistor Overheat
Breaking Transistor
6 Et2 Encoder Trouble 2 20 rH3 Error
7 ct Circuit Trouble 21 oF Deviation Overflow
8 dE Memory Error 22 AH Amplifier Overheat
9 Fb Fuse Blown 23 EH Encoder Overheat

Motor Combination
10 cE 24 DL1 Absolute Data Lost 1
6
Error
Breaking Transistor
11 tH Overheat
25 DL2 Absolute Data Lost 2
Encoder
12 Ec 26 DL3 Absolute Data Lost 3
Communication Error
ctE CONT㸝Control signal㸞 Multi-turn Data Over
13 27 AF
Error Flow
14 oL1 Overload 1 28 1E Initial Error
• The alarm is automatically displayed upon detection.

• If an alarm is detected, indication blinks quickly (at 0.5-second intervals) (when
compared with regular blinks at 1-second intervals).
• The alarm can be reset even in the test operation mode.
• When an alarm is displayed, press and hold the [∧] and [∨] keys simultaneously for at
least one second to reset the alarm.
• After an alarm reset, display is restored to the initial display automatically.

Keypad 311
(2) Alarm history

Up to 20 past alarms can be displayed.
Press the [∧] or [∨] key to scroll in the history.
En02
no.01 Detection history no. (1 is latest, 20 is oldest.)

ҍ㸤Ҏ
no.02 ࣬࣬࣬ no.20
oc1
Refer to "Alarm display" on page
6-29.
6
(Total time-main power
rc01 supply) rc08 (Motor current)
Unused (Effective torque)

rc02 rc09
ҍ㸤Ҏ
rc03 (Motor running time)
rc10 (DC link voltage)
rc04 (Feedback speed)

rc11 (EC error counts)
(Feedback speed before

rc05 five min)
rc12 (Command position)
(Command speed)
rc06 rc13 (Sequence mode)
(Command torque)
rc07
9999
The history can be cleared in the test operation mode [Fn06].
312 Keypad
(3) Warning at present

Warnings in the ABS battery, main circuit capacitors and
En03 cooling fan are displayed.

"0" indicates no warning, and "1" indicates a warning.
ESC SET
(1 sec. or over)
0111
0111
Cooling fan life warning Battery warning
Main circuit capacitor life
U㸤
(4) Total time - main power supply L
En04 The cumulative time of turning the main power (L1, L2 and
6 SET
(1 sec. or over)
L3) on is displayed.
The displaying range is from 0 to 65535 h.
----
Blinks three times.
ESC
6
SHIFT

ESC
5535
(5) Total time -control power supply
En05 This function is unused.

Keypad 313
U㸤
(6) Motor running time L
The cumulative time of turning the servomotor on is displayed.

The displaying range is from 0 to 32767 h.
Within one hour Over one hour
En06
ESC SET SET
(1 sec. or over) (1 sec. or over)
05.09 ----
(5 min.9sec.)
Blinks three times.
ESC
3
SHIFT
---- 6
Blinks three times.
ESC
2767
(32,767 hours)
314 Keypad
6.7 Parameter Edit Mode

Parameters can be edited in the parameter edit mode.
Press the [MODE/ESC] key until [PA01] is displayed and press and hold the [SET/
SHIFT] key for at least one second to select parameter editing.
After selecting parameter editing, press the [∧] or [∨] key to select the number of
the desired parameter to be edited.
Press and hold the [SET/SHIFT] key for at least one second to edit the data.
PA01 : Parameter page 1

(1) Parameter page 1

On parameter page 1, relatively frequently used
PA01 parameters are registered. Changes in most parameters
SET are reflected on the servo amplifier and servomotor
(1 sec. or over)
operation immediately.
6
P1.01
ҍ㸤Ҏ
SET
P1.02 ࣬࣬࣬
P1.99
(1 sec. or over)
0
On parameter page 2, parameters related to system setting
PA02 such as the homing functions are registered. Changes in
ESC SET parameters become enabled after the power is turned off
(1 sec. or over) then on again.

P2.01
ҍ㸤Ҏ

ESC SET
P2.02 ࣬࣬࣬
P2.99
(1 sec. or over)
0
Keypad 315

On parameter page 3, parameters related to system setting
PA03 such as sequence I/O terminals are registered. Changes in
ESC SET parameters become enabled after the power is turned off
(1 sec. or over)
then on again.
P3.01
ҍ㸤Ҏ
ESC SET
P3.02 ࣬࣬࣬
P3.99
(1 sec. or over)
0
 Value editing
When a parameter is loaded, the uppermost (leftmost) digit blinks. (If the
parameter has the upper/middle/lower-digit display, the uppermost detail is
displayed.) The blinking digit can be edited (the digit blinks at about 1-second
intervals). Press the [∧] or [∨] key to change the value.
Even if “9” changes to “0,” no carry-over occurs (the higher order number does 6
not change).
Similarly, the higher order number does not change when “0” changes to “9.”
2890 Press the [∧] key at the tens digit to increase "9."
The tens digit changes to "0" but no change occurs to the higher order
2800 number.
316 Keypad
Press the [SET/SHIFT] key to shift the digit to be edited. The digit shifts from 1 to 10
as shown below, and returns to 1 after 10.
----
Blinks three times.
99
ձղ
SHIFT
----
Blinks three times.
9999
ճմյն
SHIFT
6
9999
շ ո չ պ
Settling the value

Press and hold the [SET/SHIFT] key for at least one second to settle the value. All
digits blink simultaneously. The settled value remains. (The value blinks at about
0.5-second intervals when it is settled.)
Press the [MODE/ESC] key to return to the parameter number selection screen.
Value out of range

Values out of the allowable setting range can be entered as far as the number of
digits allows.
[Example] In case of parameter PA1_7, you can enter in the range from 0 to
9999999 (setting range: 1 to 4194304). However, the value out of
the permissible setting range is not reflected on the parameter (NG
indication is caused).
Blinking display
When parameters which become enabled after the power is cycled once, the keypad
display blinks.
Keypad 317
 An example of editing operation

Change parameter PA1_7 (denominator of electronic gear) to100000.

Key operation Remarks
An example of indication in sequence mode

~PoF
[MODE] Return to mode selection.
Sn01
[MODE] Select the parameter editing mode.
PA01
[SET] (1 sec. or over) The parameter number is displayed.
P1.01
[∧] Select parameter PA1_7.
P1.07
Blinks three times.
[SET] (1 sec. or over) ---- The set detail (upper three digits) of PA1_7 is
displayed next. 6
The third digit of upper-digit display blinks.
000
Blink
[SET] Shift to the desired editing digit.

000
Blink
[∧] Increase the value to "1."

010
Blink
[SET] Shift the target to the first digit.

010
Blink
Blinks three times.
[SET] The set detail lower four digits) of PA1_7 is
---- displayed next.
0001 The fourth digit of lower-digit display blinks.
Blink
[SET]
0001 Shift to the desired editing digit.
Blink
318 Keypad
Key operation Remarks
[∨] Change the value to "0."

0000
Blink
[SET] (1 sec. or over) Settle the new value.

0000
After being settled, the value remains.
0000
6
Keypad 319
6.8 Positioning Data Edit

Mode
In the positioning edit mode, you can edit positioning status, target position, rotation
speed, stand still timer, M code, and acceleration and deceleration time.
Pd_1 : Positioning status Pd_5 : M code

Pd_2 : Target position Pd_6 : Acceleration time
Pd_3 : Rotation speed Pd_7 : Deceleration time
Pd_4 : Stand still timer
 Procedure (common)
ESC
Po01 SET
(1 sec. or over)
no.01 6
ҍ㸤Ҏ
ESC SET
no.02 ࣬࣬࣬
no.15
(1 sec. or over)
Pd 1
ҍ㸤Ҏ
Pd 2 ࣬࣬࣬
Pd 7
(1) Positioning status
Set data relevant to the positioning data.
Pd 1
ESC SET
(1 sec. or over)
A.00.
4th digit 2nd and 3rd digits 1st digit
Command Step mode M code setting

Indication Indication Indication
method
No
A ABS
00 designation
0 Disable
i INC
co Continuous
1 Output at startup
Output at
cE Cycle end
2 completion
320 Keypad
U㸤
(2) Target position L
Set the target position of the motor. The setting value

Pd 2 range is from -2000000000 to 2000000000 in increments
SET of 1.
(1 sec. or over)
Set the target position of the servomotor for ABS command
method, and set the incremental value for INC.
----
Blinks three times.
ESC
SHIFT
- 20
6 ----
Blinks three times.
ESC
0000
SHIFT
----
Blinks three times.
ESC
0000
Keypad 321
U㸤
(3) Rotation speed L
Set the travel speed to the motor target position. Use the
motor shaft rotation speed for the setting value. The setting
Pd 3 value range is from 0.01 to 6000.00 r/min in increments of
SET 0.01.
(1 sec. or over)
Note that the setting speed is not the machine travel
---- speed.
Blinks three
times.
ESC
60
SHIFT

ESC
00.00
6
U㸤
(4) Stand still timer L
Set the stop time after the motor has reached the target
Pd 4 position. The setting value range is from 0.00 to 655.35 s in
increments of 0.01.
SET
(1 sec. or over) After the stop time has elapsed, the sequence output signal
---- (in-position signal [INP]) turns on.
The decimal point position can be changed in the
Blinks three
ESC times. parameter PA2-42 (timer data decimal point position).
6
SHIFT
ESC
55.35
322 Keypad
(5) M code
The M code output by executing positioning data can be
Pd 5 edited. The setting range is from 00 to FF in hexadecimal.
SET The minimum increment is 1.
(1 sec. or over)
ESC The default value is FF.
FF
ҍ㸤Ҏ
00 ࣬࣬࣬
FF
(6) Acceleration time
Set the motor acceleration time. The setting value range is
Pd 6 SET
from 0.0 to 99999.9 ms in increments of 0.1.
(1 sec. or over)
The setting value is the time until the motor rotation speed
reaches 2000 r/min.
----
Blinks three times.
ESC
99
6 SHIFT
ESC
999.9
(7) Deceleration time
Set the motor deceleration time. The setting value range is
Pd 7 from 0.0 to 99999.9 ms in increments of 0.1.

The setting value is the time until the motor rotation speed
SET
(1 sec. or over) reaches 2000 r/min.
----
Blinks three times.
ESC
99
SHIFT

ESC
999.9
Keypad 323
6.9 Test Operation Mode

In the test operation mode, you can operate keypad keys to rotate the servo
amplifier or reset various data. Press the [MODE/SET] key until [Fn01] is displayed,
and press and hold the [SET/SHIFT] key for at least one second to execute test
operation.
Fn01 : Manual operation Fn08 : Positioning data initialization
Fn02 : Position preset Fn09 : Auto offset adjustment
Fn03 : Homing Fn10 : Z-phase offset adjustment
Fn04 : Automatic operation Fn11 : Auto tuning gain
Fn05 : Alarm reset Fn12 : Easy tuning
Fn06 : Alarm history initialization Fn13 : Profile operation
Fn07 : Parameter initialization Fn14 : Sequence mode
Fn15 : Teaching
 NG display (common)
nG nG1 6
• Test run accompanying motor operation (Fn01, Fn03, Fn04, Fn12 and Fn13)
If the motor operation is not available, the display indicates [NG].
The signals of forced stop, ±OT, and free-run are effective during test run. Check
these signals when [NG] is displayed.
• Test run accompanying parameter writing (Fn07, Fn09, Fn10, Fn11 and Fn12)
If the parameter PA2_74 (parameter write protection) is set to “1” (write protect),
the display indicates [NG]. Set PA2_74 to “0” (write enable) before performing test
run. (*)
• Test run accompanying positioning data write (Fn08 and Fn15)
If the parameter PA2_75 (positioning data write protection) is set to “1” (write
protect), the display indicates [NG]. Set PA2_75 to “0” (write enable) before
performing test run. (*)
(*) When the signal is turned off by assigning the edit permission command to the
sequence input signal CONTn, both the parameter and the positioning data are not
allowed to be rewritten. Perform the test run with the CONTn signal turned on.
324 Keypad
(1) Manual operation

The servomotor rotates while the keypad key [∧] or [∨] is
held down.
Fn01 SET
The rotation speed of the servomotor depends on the
setting of parameter PA1_41.
ESC
(1 sec. or over)
SET
(1 sec. or over)
JG ESC
ESC SET
* For the cause of NG display, refer
(1 sec. or over)
nG to "NG display (common)" on page
6-43.
JG
ҍ㸤Ҏ The servomotor keeps rotating while the [∧] or [∨] key is held down.
Under position Under speed

control control
0PJG 0nJG
[During forward rotation (∧ being pressed)]
6 The lit arrow circles in CCW direction.
[During reverse rotation (∨ being pressed)]

The lit arrow circles in CW direction.
The forced stop, external regenerative resistor overheat, ±OT and free-run signals are
enabled even during test operation. Check these signals if test operation does not start.
(2) Position preset The command position and the feedback position of the
servomotor are reset to the value set in the preset position
Fn02 SET
in PA2_19.
ESC (1 sec. or over)

SET
(1 sec. or over)
PrSt nG
ESC
SET * For the cause of NG display, refer
(1 sec. or over) to "NG display (common)" on page
6-43.
Go
ESC
donE
Keypad 325
(3) Homing
Operate the keypad keys to perform homing. The homing profile follows the
settings of parameters PA2_6 through PA2_18.
Fn03
ESC SET SET
(1 sec. or over) (1 sec. or over)
ESC
orG nG2
SET [Cause of NG2 indication]
ESC (1 sec. or over) A control mode other than the positioning control
(speed or torque) is selected.
Homing is stopped due to ±OT detection, EMG
orG detection, and S-ON signal OFF, etc.
* For the cause of NG1 display, refer to "NG display

SET (common)" on page 6-43.
(1 sec. or over)
6
ESC
8orG
The lit arrow moves along a figure of eight.
ESC
End Homing completion

326 Keypad
(4) Automatic operation

Operate the keypad keys to perform automatic operation.
Positioning is executed according to the registered positioning data 1 to 15.
Fn04
SET
SET
(1 sec. or over)
AUt ESC
nG2 nG3
[Cause of NG2 indication]
An address error (The initial address is set to
"00." )
SET
ESC [Cause of NG3 indication]
(1 sec. or over)
A control mode other than the positioning
control (speed or torque) is selected.
Homing is stopped due to ±OT detection, EMG
AUt detection, and S-ON signal OFF, etc.
6
* For the cause of NG1 display, refer to "NG
SET
ESC display (common)" on page 6-43.
(1 sec. or over)
A.01 Number selection
Specify the desired positioning data no. by pressing the [∧] and
[∨] keys.
ҍ㸤Ҏ
A.02 ࣬࣬࣬ A.15࣬࣬࣬ A.00
SET
(1 sec. or over)
ESC
During positioning
Go.01 The positioning data no. in execution lights up.
ESC
Ed.01 Positioning completion
The forced stop, external regenerative resistor overheat, ±OT and free-run signals are
enabled even during test operation. Check these signals if test operation does not start.
Keypad 327
(5) Alarm reset
The alarm currently detected in the servo amplifier is reset.

Fn05
ESC SET
(1 sec. or over)
SET
(1 sec. or over)
AL.rt nG
ESC * For the cause of NG display, refer
SET
6-43.
Go
ESC
donE End of resetting
The servo amplifier is not reset from some alarms through alarm resetting. To reset these alarms,
turn the power off then on again.
6
Alarms removed through alarm resetting Alarms not removed through alarm resetting
Display Name Display Name
Hu Overvoltage cE Motor Combination Error

Breaking Transistor Breaking Transistor
tH Overheat
tH Overheat
Encoder
Ec ctE CONT㸝Control signal㸞Error
Communication Error
oL2 Overload 2 rH4 Circuit Trouble
Main Power
LuP Undervoltage
DL1 Absolute Data Lost 1
Internal Breaking
rH1 Resistor Overheat
External Breaking
rH2 Resistor Overheat
oF Deviation Overflow AF Absolute Data Over Flow
AH Amplifier Overheat iE Initial Error
EH Encoder Overheat
328 Keypad
(6) Alarm history initialization

The history of detected alarms recorded in the servo
amplifier is deleted. The alarm detection history (alarm
history) can be monitored with [En02] in the maintenance
ESC
Fn06 SET
mode.
(1 sec. or over)
SET
(1 sec. or over)
AL.in nG
SET to "NG display (common)" on page
(1 sec. or over) 6-43.
Go
ESC
donE End of initialization
6 The alarm history is retained even after the power is turned off.
(7) Parameter initialization

Parameters are initialized.
After initializing parameters, be sure to turn the power off
Fn07 then on again.
ESC SET
(1 sec. or over)
SET
(1 sec. or over)
PA.in nG
Go
ESC
donE End of initialization

Keypad 329
(8) Positioning data initialization

The positioning data are initialized.
Fn08 After initializing, turn the power off then on again.
ESC SET
(1 sec. or over)
SET
(1 sec. or over)
Po.in nG
ESC
SET * For the cause of NG display, refer
6-43.
Go
ESC
donE
(9) Auto offset adjustment

The current input voltage supplied at the analog
speed/torgue command voltage input [VREF] / [TREF]
6
Fn09 terminal is reset to 0 V.
SET
ESC
(1 sec. or over)
SET
(1 sec. or over)
A.off nG
SET
6-43.
Go
ESC
donE End of offsetting
If both the X1 and X2 terminals of multi-step speed selection are turned off with the FWD (REV)
signal, the output shaft of the servomotor rotates according to the analog speed command voltage.
The output shaft of the servomotor may rotate at a small speed even if the speed command
voltage is 0 V.
Use the "zero clamp function (parameter PA3_35)" when necessary.
330 Keypad
Follow the procedure below to adjust the offset voltage.

[1] Supply 0 V to the [VREF] and [TREF] terminals. The operation command can be
given or not given.
[2] Select [Fn09] at the keypad and press the [SET/SHIFT] key to automatically
adjust the offset.
[3] Turn the operation command [S-ON] signal on and check that the output shaft of
the servomotor does not rotate.
• Results of adjustment are stored in parameter PA3_32 and PA3_34.

• According to variation in the ambient environment of the servo amplifier, offset
adjustment may become necessary. However, do not select if the host controller uses
the speed command voltage and division output pulse (feedback) to control the servo
amplifier.
(10) Z-phase offset adjustment

The current position is defined to be the Z-phase position.
After the Z-phase offset is defined, the distance between
the current position and Z-phase is automatically entered in
Fn10 parameter PA1_12 (Z-phase offset).
6 ESC
SET
(1 sec. or over)
SET
(1 sec. or over)
Z.off nG
ESC
SET [Cause of NG indication]
(1 sec. or over) (1) The zero position (Z-phase) of the encoder
is not established (immediately after the
power is turned on). In this case, turn the
motor shaft two or more turns to establish
the Z-phase.
Go (2) Refer to "NG display (common)" on page 6-43.
ESC
donE End of offsetting

Keypad 331
(11) Auto tuning gain

Parameter PA1_15 (auto tuning gain 1) is updated at real
time.
The data is reflected at real time merely through
increase/decrease of data, different from regular parameter
entry (parameter PA1_15 is not updated if no operation is
Fn11 made; press the [SET/SHIFT] key to register parameter

PA1_15).
ESC SET
(1 sec. or over)
SET
(1 sec. or over)
At.tn nG
AG.1
ҍ㸤Ҏ
AG.0 ࣬࣬࣬
AG.4 6
SET
(1 sec. or over)
ESC
Parameter PA1_15 is updated.
(12) Easy tuning

Operate the servomotor automatically and adjust the auto tuning gains
automatically.
Best adjustment can be obtained according to the machine even if cables to
the host control unit are not connected.
The operation pattern includes two variations: slow running and easy tuning.
For details, refer to “CHAPTER 5 SERVO ADJUSTMENT.”
Operation Direction of rotation
Travel Operation Acceleration Deceleration Rotation
pattern Timer
distance frequency time time speed Return
name Go path
path
Slow
PA1_10 Once PA1_37 PA1_38 10 r/min PA1_22 PA1_23
running
Automati- Automati-
Easy Max. 50
PA1_20 cally cally PA1_21 PA1_22 PA1_23
tuning times
332 Keypad
Fn12
ESC SET
(1 sec. or over)
ESC
*
Esy nG
Select the desired operation by pressing the [∧]
and [∨] keys.
ҍ㸤Ҏ
SLr ࣬࣬࣬
ESY
Slow run Easy tuning
SET
Returns by
pressing ESC. Operation confirmed
ESY
Operation stop SET
6 completion StP (1 sec. or over)
During easy tuning

Ends prematurely by 8ESY
pressing ESC.
eight.
Easy tuning completion

End
*[Cause of NG1 indication]
The parameter PA1_13 (tuning mode) is set to "12" (manual).
The parameter PA2_74 (parameter write protection) is set to "1" (write protect).
Operation is disabled due to EMG detection or alarm detection.
During motor rotation.
Operation is stopped due to ±OT detection, EMG detection, and S-ON signal OFF, etc.
The motor is oscillating even when the auto tuning gain is set to 4 or lower.
Keypad 333
(13) Profile operation

Operate the servomotor continuously. Once started, reciprocal operation
(depending on parameter PA1_23) continues until operation is stopped.
Continuous operation is possible even if cables to the host control unit are not
connected. Use this mode to check the effective torque or for other purposes.
Direction of rotation
Operation Travel Operation Acceleration Deceleration Rotation
Timer Return
pattern name distance frequency time time speed Go path
path
Profile
PA1_20 Endless PA1_37 PA1_38 PA1_21 PA1_22 PA1_23
operation
Fn13
SET
ESC
*
Ptn nG
ESC SET
(1 sec. or over)
Returns by
pressing ESC.
Ptn 6
SET
Operation stop
completion StP (1 sec. or over)
Ends prematurely
by pressing ESC.
8Ptn During profile operation

eight.
*[Cause of NG1 indication]

Operation is disabled due to EMG detection or alarm detection.
During motor rotation.
Operation is stopped due to ±OT detection, EMG detection, S-ON signal OFF, and alarm
detection, etc.
334 Keypad
(14) Sequence test mode

You can issue sequence output signals and show statuses without connecting
the servomotor as if the servomotor actually operates in response to sequence
input signals.
Use this mode to check the program (sequence) of the host controller or
similar.
Fn14
SET
SET
(1 sec. or over)
Sq.ts ESC
nG
* For the cause of NG display, refer
ESC SET to "NG display (common)" on page
20bt
ҍ㸤Ҏ
6 18bt ࣬࣬࣬
17bt
SET
donE
• During the sequence test mode the 7-seg display (all the four digits) flashes with
blinking with interval of several seconds. The display does not flash with blinking during
key operation and data editing.
• The sequence test mode is not finished even if another mode other than "Fn_014"
indication is started. To exit from the mode, turn the main power off then on again.
If parameter PA2_89 is set at "1", change the reference value to "0" before turning the
power off and on.
(15) Teaching
After operating the servomotor in the manual operation or pulse operation
or similar, the target position can be written to the specified address as the
positioning data.
• Only the target position can be written and other data need to be set
separately.
(Positioning status, rotation speed, stand still timer)
If the initial positioning data is selected for teaching, the command method of
positioning status is set to ABS.
Keypad 335
Fn15
SET
ESC
tEcH nG
[Cause of NG indication]
(1) The teaching position is out of positioning data stop
ESC SET
position range [-2000000000 to 2000000000].
(1 sec. or over)
(2) Refer to "NG display (common)" on page 6-43.
Po.01
ҍ㸤Ҏ Address selection
SET
(1 sec. or over)
Po.02 ࣬࣬࣬ Po.15
----
6
Blinks three times.
ESC
SHIFT
- 20
During teaching position
---- check
ESC Blinks three times.
0000
SHIFT

ESC
0000
SET
(1 sec. or over)
Go Teaching execution
ESC
donE Successful completion

Maintenance and Inspection 331
7
7.1 Inspection
The servo amplifier and servomotor are maintenance free and no special daily
inspection is necessary. However, to avoid accidents and operate the devices for a
long term at a stable reliability, perform periodical inspection.
WARNING

If the charge LED is off even though the power is turnd on, the fuse inside the servo amplifier may
be blown. To check the fuse, wait five minutes or more after turning off the power.
Do not touch the servomotor, servo amplifier and cables in the power-on state.
Never disassemble or remodel the servomotor and servo amplifier.
It might cause fire and failure. It will not be covered by the warranty.
332 Maintenance and Inspection
 Periodic inspection items

The periodic inspection items are shown below.
Device Description of inspection
There is no deviation *1) in the linkage between the servomotor shaft and
mechanical system.
Servomotor
The servomotor is free from direct splashes of water, vapor or oil.
The servomotor itself does not vibrate excessively.
Screws of the terminal block and mounting sections are not loose.
Connectors are inserted correctly.
There is no massive dust on the servo amplifier.
Servo amplifier
There is no malodor, damage, breakage or faults in appearance.
There is no abnormal object mixing or abnormal sound or abnormal vibration in
the fan,either there is no looseness in the bolt.
*1) Indicates faults in installation such as an angle error, parallelism eccentricity, axial
displacement or similar in the linkage between the servomotor shaft and mechanical system.
Before checking cables of the servomotor and servo amplifier, turn the power off and wait
at least five minutes and check that the charge LED is unlit.

CAUTION
7 Do not perform a Megger test of the printed circuit board and terminal block.
Otherwise the servo amplifier or the encoder built in the servomotor may be damaged.
7.2 Status Display

7.2.1 Initial State
When the main circuit power (L1, L2 and L3) is supplied to the servo amplifier, the
seven-segment LED of the keypad and the charge LED light up.
If nothing is displayed even though the power is supplied, contact us.
 Front view of servo amplifier
Frame 1 Frame2 Frame 3
1 1 1
7
2
*1 Keypad with 7-segment LED

*2 Charge LED
7.2.2 State at Alarm

In case of alarm, the servo amplifier will indicate alarm code on the key pad
7-segment LED.
Be sure to check the alarm code to clarify the cause of the alarm.
7.2.3 Alarm Display List

When an alarm is detected, the display on the amplifier will show an alarm code as
per the following table.
Order of
display Name Type
description
1 oc1 Overcurrent 1
2 oc2 Overcurrent 2
3 oS Overspeed
4 Hu Overvoltage
5 Et1 Encoder Trouble 1
6 Et2 Encoder Trouble 2
7 ct Circuit Trouble
8 dE Memory Error
Major
9 Fb Fuse Blown
10 cE Motor Combination Error
11 tH Breaking Transistor Overheat
12 Ec Encoder Communication Error
13 ctE CONT㸝Control signal㸞Error
14 oL1 Overload 1
7 15 oL2 Overload 2
16 rH4 Inrush Current Suppression Circuit Trouble
17 LuP Main Power Undervoltage
18 rH1 Internal Breaking Resistor Overheat
19 rH2 External Breaking Resistor Overheat
20 rH3 Breaking Transistor Error
21 oF Deviation Overflow
22 AH Amplifier Overheat
Minor
23 EH Encoder Overheat
24 dL1 Absolute Data Lost 1
27 AF Multi-turn Data Over Flow
28 iE Initial Error
To reset the alarm, perform one of the following methods.
Turn the alarm reset (RST: sequence input signal) on temporarily and then turn it off.
From the keypad, select the test operation mode [Fn05] and execute the alarm reset.
On the alarm screen, press and hold the [∧] and [∨] keys of the keypad simultaneously for at least
one second.
From the PC Loader, use the alarm reset in the "monitor" command.
After the alarm reset, the data specified with parameter "PA2_77 (initial display of the keypad)" is
displayed.
 Alarm reset
Some alarms cannot be cleared through alarm resetting. To remove the alarm
that is not cleared through alarm resetting, remove the cause of the alarm
following the method described in “7.3 Troubleshooting Method” after (or before)
the power is turned off, and then reset the status by turning the power again.
Alarms cleared through alarm resetting Alarms not cleared through alarm resetting
display Name display Name
Hu Overvoltage dE Memory Error
Breaking Transistor
tH Overheat Fb Fuse Blown
Encoder Communication
Ec Error cE Motor Combination Error
oL1 Overload 1 ctE CONT㸝Control signal㸞Error

LuP Main Power Undervoltage rH4 Circuit Trouble
rH1 Overheat dL1 Absolute Data Lost 1*
7
rH2 Overheat DL2 Absolute Data Lost 2*
oF Deviation Overflow DL3 Absolute Data Lost 3*

AH Amplifier Overheat AF Multi-turn Data Over Flow*
EH Encoder Overheat iE Initial Error
* The alarms dL1 to 3 and AF can be
Alarm reset at keypad canceled by position preset.
The alarm currently detected at the servo amplifier is reset.
Fn05
SET
㻨㻶㻦 (1 sec. or over)
ALrt
SET
(1 sec. or over)
Go
㻨㻶㻦
donE End of resetting

7.3 Troubleshooting Method

1. Overcurrent
[Display] [Description of detected alarm]
The output current of the servo amplifier exceeds the rated value.
oC1 OC1: Direct detection by internal transistor of servo amplifier
OC2: Indirect detection with software of servo amplifier
oC2
[Cause and remedy]
Cause Remedy
Wrong servomotor output wiring Correct the wiring of power cables (U, V and W).
Short circuit or grounding fault in Check cables visually or through continuity check
servomotor output wiring and replace the defective cable.
Measure the insulation resistance. (Several MΩ or
Servomotor insulation fault
over to ground)
Measure the resistance across cables. (Several Ω
Failure of servomotor
between cables)
Replace with the regenerative resistor within the
Incorrect resistance of regenerative resistor
rating.
Current imbalance caused by an encoder
Replace the servomotor.
fault
Unconnected grounding cable Connect the grounding cable.
7
2. Overspeed
The rotation speed of the servomotor exceeds 1.1 times the maximum
oS speed.
[Cause and remedy]
Cause Remedy
Wrong servomotor output
Correct the wiring of power cables (U, V and W).
wiring
Check the speed waveform during acceleration with the PC
Loader or similar (see the figure below) and take the following
The rotation speed of the countermeasures.
servomotor overshoots. Increase PA1_15 (auto tunimg gain 1).
Increase PA1_37 (acceleration time).
Increase PA1_52 (S-curve time constant).
Overshoot
Max. rotation speed
Time
3. Overvoltage
The DC voltage inside the servo amplifier exceeds the upper limit.
Hu
[Cause and remedy]
Cause Remedy
Check if the source voltage is within the specification
The source voltage is too high limits.
(immediately after power-on). Insert a reactor if there is a power factor improvement
capacitor.
Unconnected external regenerative Connect the external regenerative resistor.
resistor or wrong wiring Correct the wiring of the external regenerative resistor.
Broken regenerative transistor Replace the servo amplifier.
The internal DC voltage can be checked in the monitor mode of the keypad.
[on15]: Internal DC link voltage (max. value)
Approximately over 420 V, overvoltage is detected.
4. Encoder Trouble
There is a fault in the encoder built in the servomotor.
(Communications are normal.)
Et1 • Et1: Single revolution position detection fault of encoder
7
Et2 • Et2: Encoder memory data reading fault
[Cause and remedy]
Cause Remedy
Fault in data sent from encoder Use shielded cables to eliminate noise effects.
Failure of encoder Replace the servomotor.
5. Circuit Trouble
There is a fault in the source control power voltage inside the servo
ct amplifier. There may be a failure in the internal circuit.
[Cause and remedy]
Cause Remedy
Turn the power off then on again. If restoration
Failure of servo amplifier
is not obtained, replace the servo amplifier.
6. Memory Error
The parameter data stored in the servo amplifier is damaged.
dE
[Cause and remedy]
Cause Remedy
Using the PC Loader, read parameters and
enter those indicated in red.
Failure of stored data Initialize parameters.
If restoration is not obtained with the actions
above, replace the servo amplifier.
Replace the servo amplifier.

The parameter overwriting frequency has (Store the parameters which are overwritten
exceeded 100,000 cycles. frequently to PA2_80 to 85, parameter in RAM
1 to 6.)
7. Fuse Blown
The fuse in the servo amplifier main circuit is disconnected.
Fb
[Cause and remedy]
7 Cause Remedy
The fuse is diconnected. Replace the servo amplifier.
The main circuit fuse is used to prevent secondary disaster including fire.
Customers are not allowed to replace the fuse. Contact us before turning on the power.
8. Motor Combination Error

The capacity and model of the servo amplifier do not agree with those
cE of the connected servomotor.
[Cause and remedy]
Cause Remedy
The capacity and model of the servo Check the capacity and model of the servomotor and
amplifier do not agree with those of those of the servo amplifier.
the servomotor.
For details, refer to “Combination between Servomotor and Servo Amplifier” in

“CHAPTER 0 INTRODUCTION“.
9. Regenerative Resistor Overheat

The regeneration handling transistor built in the servo amplifier is
tH overheated.
[Cause and remedy]
Cause Remedy
Check if the source voltage is within the specification limits.
High source voltage
Insert a reactor if there is a power factor improvement
(immediately after power-on)
capacitor.
Increase the deceleration time.

Too large regeneration
Decrease the servomotor rotation speed.
power
Increase the dwell and decrease the regeneration frequency.
10. Encoder Communication Error

Communications with the internal encoder of the servomotor fails.
Ec
[Cause and remedy]
Cause Remedy
Error in encoder serial Check cables visually and through continuity check and 7
communications correct faults.
Check for the broken wire in the encoder cable and correct if
Broken wire or poor contact broken.
Insert ferrite cores.
The servo amplifier and encoder communicate through high speed serial
communications.
The encoder signal has a voltage amplitude of about 5 V. Do not route the encoder
cable in a strong magnetic or electric field. Route the encoder cable separately from
the main body of the servo amplifier, inverter, electromagnetic contactor or similar
(reserve at least 100 mm).
11. Cont (Control signal) Error

There is duplication in allocation of sequence input terminals of the
ctE servo amplifier.
[Cause and remedy]
Cause Remedy
The same input signal is allocated to two or Do not specify the same number among
more terminals. CONT signal settings.
12. Overload
• OL1: Alarm that detects failures such as a locked shaft
instantaneously. (3 s/300%)
oL1 • OL2: The effective torque exceeds the allowable limit of the
servomotor. (Detection at electronic thermal relay built in servo
oL2 amplifier)
[Cause and remedy]
Cause Remedy
• Check the wiring of power cables (U, V and
The servomotor fails to rotate
W) and correct faults.
mechanically.
• Check if the brake is active.
• Examine the servomotor capacity, based on
the load factor.
The mechanical system is too heavy • If the rotation speed can be reduced, add a
against the servomotor capacity. reduction gear.
• Apply the brake to retain a stopped
elevator.
The acceleration/deceleration frequency Increase the cycle time and decrease the
and operation frequency are too high. operation frequency.
Servo amplifier is damaged. Replace the servo amplifier.
7 If an OL2 alarm is caused but no damaged servo amplifier or incorrect wiring is

found, the servomotor capacity must be examined.
Check the OL thermal value with the PC Loader or the monitor mode of the keypad
in both cases.
13. Main Power Undervoltage

The power supplied to the servo amplifier falls below the minimum
LuP specification voltage limit.
[Cause and remedy]
Cause Remedy
• Check the power supply environment whether
momentary power failure is generated or not, and
The source voltage drops due to
improve the power supply environment.
momentary power failure or similar.
• Check and improve the power supply capacity and
transformer capacity.
If the power supply environment is adverse, PA2_67 (alarm detection at
undervoltage) can be applied to ignore undervoltage detection. In this case,
operation can be continued with the setting of PA2_66 (flying start at speed control)
in the event of momentary power failure. Undervoltage detection is set at about 200
V by the DC voltage in the servo amplifier.
14. Internal Regenerative Resistor Overheat

The power consumption of the regenerative resistor built in the servo
rH1 amplifier exceeds the upper limit. (Detection is made at the internal
electronic thermal relay of the servo amplifier.)
[Cause and remedy]
Cause Remedy
Excessive source voltage • Check if the source voltage is within specification limits.
(immediately after power-on) • Insert a reactor if there is a power factor improvement capacitor.
• Increase the deceleration time.
Due to vertical transfer or • Decrease the servomotor rotation speed.
winding purpose, etc. the • Increase the cycle time and decrease the operation frequency.
regenerative power cannot be
consumed. • Connect an external regenerative resistor.
• Install a counterweight.
The regenerative resistor is not
Connect correctly. Set PA2_65 at 0 or 2.
connected.
Note: The internal regenerative resistor is possibly to get hot, so do not touch it.
15. External Regenerative Resistor Overheat

The external regenerative resistor overheat signal (normally closed
rH2 contact signal) has worked (was open).
7
[Cause and remedy]
Cause Remedy
Excessive source voltage
Check if the source voltage is within the specification limits.
(immediately after power-on)
• Increase the deceleration time.
Due to vertical transfer or • Decrease the servomotor rotation speed.
winding purpose, etc. the • Increase the cycle time and decrease the operation frequency.
regenerative, power cannot be
consumed. • Connect an external regenerative resistor.
• Install a counterweight.
Wrong wiring of external
regenerative resistor overheat Connect correctly.
signal
16. Regenerative Transistor Error

The regeneration handling transistor built in the servo amplifier is
rH3 damaged.
[Cause and remedy]
Cause Remedy
The regenerative transistor is Turn the power off then on again. If the alarm persists, replace
short circuited or damaged. the servo amplifier.
If the regenerative transistor is short circuited or damaged, fire may be caused. If the
regenerative transistor fault alarm signal is output, turn the power off immediately.
17. Inrush Current Suppression Circuit Trouble

The circuit inside the servo amplifier which suppresses the inrush
rH4 current generated at the power on may be broken.
[Cause and remedy]
Cause Remedy
7 The servo amplifier is damaged. Replace the servo amplifier.
Keep the ambient temperature 55Υ or lower (40Υor
The ambient temperature exceeds below is recommended).

55°C. Move heat generating bodies near the servo amplifier as far
away as possible.
Reduce the frequency of turning the power on/off.
The power is frequently supplied.
(Reference: once a minute or less)
If this alarm is detected even when the ambient temperature is below 55Υ, replace the
servo amplifier without attempting operating it.
18. Deviation Overflow

A position deviation amount equivalent to servomotor revolutions
oF specified in PA2_69 (deviation detection overflow value) is
accumulated inside the servo amplifier.
[Cause and remedy]
Cause Remedy
Wrong connection of power cables
Check and correct the wiring of power cables (U, V
(The alarm is alerted immediately when
and W).
servo-on is turned on.)
The servomotor fails to rotate mechanically. Check if the brake is applied.
Low output torque Increase PA1_27, _28 (torque limit).
The deviation detection width is small. Increase PA2_69 (deviation detection overflow
value).
The amplifier is in the P control mode. Turn off the P motion signal.
Low gain Perform gain adjustment.
Acceleration/deceleration of pulse frequency
Increase the acceleration/deceleration time.
is too acute.
The default setting of PA2_69 (deviation detection overflow value) is 15 rev, that is,
20 bits x 15 pulses. During regular servo system operation, the deviation amount
increases in proportion to the rotation speed. 7
19. Amplifier Overheat
The temperature of the servo amplifier has exceeded the allowable
AH limit.
[Cause and remedy]
Cause Remedy
Reduce the ambient temperature to 55°C or lower. (40°C
or lower temperatures are recommended for regular
The ambient temperature exceeds operation.)
55°C.
Move heat generating bodies near the servo amplifier as
far away as possible.
Effective torque may be exceeding 100㸚 during operation.

Check the effective torque using the keypad or PC loader so that it may not exceed
100%.
20. Encoder Overheat

The encoder inside the servomotor is overheated exceeding the
EH allowable temperature.
[Cause and remedy]
Cause Remedy
• Reduce the ambient temperature of the servomotor to
40°C or lower.
Excessive ambient temperature
• Remove shields interrupting heat radiation, if there
are any.
The effective torque exceeds the Increase the cycle time and reduce the operation
rating. frequency.
21. Absolute Data Lost

The absolute data of the encoder is lost.
DL1 • dL1: Battery voltage drop, broken encoder cable
• dL2: Multi-turn data fault in encoder
DL2 • dL3: Detection at power-on after an ET alarm
DL3
7 [Cause and remedy]
Cause Remedy
• Check for the broken wire or wrong wiring in the
encoder cable and correct.
dL1 alarm • Replace the battery.
• A warning is displayed on the amplifier if the battery
voltage is low. (If PA2_78 is set at 1)
Perform position preset. If the alarm persists, replace the
dL2 alarm
servomotor.
After position preset, dL3 is cleared but the ET alarm
dL3 alarm persists.
If the ET alarm is not cleared, replace the servomotor.
For details, refer to "CHAPTER 11 ABSOLUTE POSITION SYSTEM."
22. Multi-turn Data Over Flow

Rotation of the output shaft of the servomotor exceeds the range
AF between -32766 and 32765.
[Cause and remedy]
Cause Remedy
Check the servomotor revolutions.
Excessive servomotor revolutions Use the PC Loader or take similar measures to
check the current position.
23. Initial Error

The initial position inside the encoder is not established.
iE
[Cause and remedy]
Cause Remedy
The encoder is damaged. Replace the servomotor.
The power is turned on while the Stop the servomotor and turn the power off then
servomotor rotates due to an external force on again. If restoration is not obtained, replace
(at 250 r/min or over). the servomotor.
7
7.4 Items to be Inquired

upon Trouble
If an alarm is alerted due to any cause, take corrective actions according to
description given in “7.3 Troubleshooting Method.” If the servo amplifier is reset
to continue operation though the cause is unknown, damage may be caused to
the servomotor and/or servo amplifier. When contacting us, notify the following
information.
Item Information to Be Provided
Description of Model of servomotor and that of servo amplifier

nameplate [Example] BSDS0400
Device Host control unit, external regenerative resistor, etc.
configuration [Example] External regenerative resistor (model: WSR-401)
Configuration of Outline of configuration of mechanical system driven by motor
mechanical system [Example] Spring feed, vertical, reduction ratio 1/2
(1) Operation years, whether the equipment has functioned correctly even once
or not
(2) Frequency of alarm detection and control method (pulse operation, etc.) and
other circumstances
[Example] An alarm is displayed whenever a certain device functions.
7 (3) Description of alarm display
(4) Repeatability of alarm
Details of trouble (5) Timing of alarm occurrence - during acceleration, during rotation at constant
speed, during deceleration, ...
(6) Difference in alarm occurrence between forward and reverse rotation
(7) Whether the alarm occurs under certain circumstances or not
[Example] When the servo-on (S-ON) signal is turned on
[Example] When the table advances to reach a certain point
(8) Whether the similar phenomenon is observed or not if the servo amplifier is
replaced with another one used for a machine of the same specification
7.5 Maintenance and

Discarding
Use in the operating environment specified in “CHAPTER 1 INSTALLATION.”
(1) Power-on
Power can be supplied continuously to the servo amplifier.

WARNING
Do not touch the servomotor, servo amplifier or cables in the power-on state.
(2) Specifications
The rating of the BSMS type servomotors is continuous rating.
(3) Power supply
Avoid repeating power-on and shutdown of the commercial power supply to start
or stop the servomotor. The service life of parts inside the servo amplifier may be
affected.
(4) Radio noise 7
The servomotor and servo amplifier are devices for general industrial machines
and no countermeasures against radio noise are taken. For this reason, noise
effects may be observed under the following circumstances.
• Electric noise may be observed at AM radios placed near the servo amplifier or
servomotor.
• Electric noise may be added to radio broadcasting systems or similar installed
near cables.
• Electric noise may be added to measuring instruments and commercial
devices.
For countermeasures against electric noise and installation method, refer to

“CHAPTER 10 PERIPHERAL EQUIPMENT.”
7.5.2 Life
The servomotor and servo amplifier have service lives.
Contact our service division for parts replacement. Never disassemble or repair by
yourself.
(1) Bearing of servomotor

The service life of the servomotor varies according to the operating conditions.
Replacement is necessary if abnormal noise or excessive vibration is found
during inspection.
(2) Cooling fan built in servo amplifier
Set parameter PA2_78 (Display transition at warning detection) at 1 to display a
warning on the amplifier when the limit of the service life of the cooling fan draws
near.
The cooling fan operates in the ready for servo-on (RDY) state. If the cooling fan
fails to rotate in the state, the cooling fan must be replaced.
(3) Brake built in servomotor
The brake built in the servomotor is a non-exciting type retention-only brake.
Do not use it for regenerative. Failure will be caused if the brake is used for
regenerative, resulting in substantial reduction of the service life. Use it only for
retention of a stopped servomotor.
(4) Capacitor built in servo amplifier
The electrolytic capacitors used for the main circuit and control circuit of the
servo amplifier have service lives.
7 For capacitors used in the main circuit, set parameter PA2_78 (Display transition
at warning detection) at 1 to display a warning on the amplifier when the limit of
the service life draws near.
(5) Battery (for ABS system)
The battery used in an absolute position system has a service life.
By setting “1” to parameter PA2_78 (display transition at warning detection), a
warning is displayed on the amplifier if the battery voltage becomes lower than
the rated value.
Replace the battery soon while leaving the power turned on.
When the battery life becomes extremely short, a possibility for wrong wiring can
be considered.
7.5.3 Discarding
(1) Servomotor
Handle the servomotor as a general industrial waste.
(2) Servo amplifier
Handle the servo amplifier as a general industrial waste.
7.6 Approximate
Replacement Timing
The approximate replacement timings of parts for the following operating conditions
are shown below. However, note that the timing varies according to the operation
method, environmental conditions and so on. For the replacement method, contact
us.
[Operating conditions]
Ambient temperature: Annual average 30°C
Load factor: Within 80%
Operation rate: Within 20 hours/day
 Servomotor
Part name Standard service life Method
Bearing 20,000 to 30,000 hours Send the product back

Oil seal 5,000 hours to us for repair.
 Servo amplifier
7
Part name Standard service life Method
Capacitors of main circuit 73,000 hours

Aluminum electrolytic capacitors
73,000 hours Send the product back
of printed circuit board
to us for repair.
Cooling fan 73,000 hours
Fuse 73,000 hours
Battery for absolute system 35,000 hours *1 Replace with a new part.
*1 Cumulative operation hours without tuning the power on
7.7 Troubleshooting
The servomotor does not operate.
Check the connections and contact statuses of the * Before checking the connections of cables and connectors, make sure to turn off
cables or connectors for power supply and others. the power.
* This is necessary because if deceleration feature has been applied or the motor is
Check On01 (feedback speed). operated in extremely low speed, the motor operation status cannot be checked by
visual check. Furthermore, there is a possibility of mechanical slip.
Abnormal (The motor is not in operable

condition.)
Check Sn01. Check the cause by referring to section 6.3.
Not abnormal
An alarm is raised.
Check if an alarm is raised or not. Check the cause by referring to section 7.3.
No alarm is raised.
Abnormal (No such command has been
Check if any command such as FWD/REV, pulse, input.) 䡗 Check the sequence of the host controller.
analog voltage, or START, etc. has been input. 䡗 Check the diagnosis of the PC loader.
Not abnormal
(1) In the case of pulse operation
7
䡗 PA1_01 (control mode selection)
Check the relevant parameters. 䡗 PA1_03 (command pulse input method
and form setting)
(2) In the case of multi-step speed selection
operation
Not abnormal
䡗 PA1_41 to 47 (manual feed speed )
䡗 PA3_1 to 30 (CONT signal assignment)
(3) In the case of analog command

䡗 PA3_31 (speed command scale)
䡗 PA3_35 (zero clamp level)
(4) In the case of start positioning

䡗 PA1_01 (control mode selection)
䡗 PA2_40 (internal positioning data selection)
䡗 Internal positioning data
(5) In the case of Modbus communications

䡗 PA2_97 (communication protocol selection)
䡗 PA2_72 (station number)
Contact us.
The servo motor has operated

briefly and stopped.
An alarm is raised.
Check if an alarm is raised or not. Check the cause by referring to section 7.3.
No alarm is raised.
The brake is not released. (1) Check the brake power.

Check if the brake is released.
(2) Check the brake ON/OFF sequence.
The brake is released.
Abnormal (1) Check the machine for the stroke end or

There is a mechanical abnormality.
mechanical slip, etc.
Not abnormal
Contact us.
The motor issues unpleasant

noise.
7
Oscillating Reduce the PA1_15 (auto tuning gain 1)
Check if the motor is oscillating or not.
value.
Not oscillating
The brake is not released. (1) Check the brake power.

Check if the brake is released.
(2) Check the brake ON/OFF sequence.
The brake is released.
Abnormal (1) Check the wiring of U/V/W.

Check the wiring of power to the servomotor.
(2) Check if the wiring is connected to a
wrong motor or not.
Not abnormal
Abnormal (1) Check the encoder cables.

Check the wiring of the encoder cables.
(2) Check if the wiring is connected to a
wrong motor or not.
Not abnormal
Abnormal (1) Check the machine for the stroke end or

Not abnormal
Contact us.
The position shifts from an

intended one in pulse operation.
PLC output pulse䍫command

integration pulse (1) Check the wiring for pulses.
Check the pulses of PLC output and amplifier
(2) Check noise occurrence.
command integration.
(3) Check PA1_03 (command pulse form
selection).
PLC output pulse = command integration pulse
Abnormal
Check the travel amount per pulse. Check the setting of electronic gear.
Not abnormal
Abnormal (1) Check the machine for overload or

Not abnormal
Contact us.
7 The motor does not operate in a

smooth manner (operates
choppily).
Inertia
Moment ratio ≥ 50
ratio䍲50 Select "1" (semi auto) in PA1_13 (tuning
Check PA1_14 (load inertia ratio).
mode selection) and set the PA1_14
parameter appropriately.
Moment ratio䠎50
Max.
300% or 300%
more torque is required. Extend the acceleration/deceleration time.
Check the acceleration/deceleration torque.
(Reference: The acceleration/deceleration
torque becomes 250% or less.)
Not abnormal
Abnormal Check the machine for backlash or

Not abnormal
Contact us.
Overshoot or undershoot occurs.
Initial value Perform easy-tuning to adjust data

Check the adjustment settings.
appropriately.
Adjusted
Max.
300% or 300%
more torque is required. Extend the acceleration/deceleration time.
Check the acceleration/deceleration torque.
(Reference: The acceleration/deceleration
torque becomes 250% or less.)
Not abnormal
Abnormal Check the machine for backlash or

Not abnormal
Contact us.
The parameters cannot be applied.
7
Check if "0" (write enable) is set in PA2_74 "1" (write protect) is set in PA2_74.
(parameter write protection). Set "0" in PA2_74.
PA2_74 = 0
Out of setting range Check the setting range and set a value within
Check if the setting value is within the setting
range. the range.
Within setting range
Power not cycled.

Did you cycle the power when the corresponding
Cycle the power.
parameter becomes enabled with the power cycle?
Power cycled.
Not checked.
Did you check if the 7-seg display on the servo Shut down the power until the 7-seg display
amplifier was turned off? is confirmed to be turned off.
Checked.
Less than 200 VAC
Check if 200 VAC is supplied to L1/L2/L3. Supply 200 VAC.
200 VAC supplied.
Contact us.
354 Specifications
8
8.1 Specifications of
Servomotor
8.1.1 BSMS Motor
200 V series
 Standard specifications
BSMS0200CN BSMS0400CN BSMS0750CN
 Brake specification (motor equipped with a brake)

BSMS0200CB BSMS0400CB BSMS0750CB

Specifications 355
 Torque characteristics diagram (at 3-phase 200 [V] or single-phase 230 [V]
source voltage)
GYB201D5-
BSMS0200CN 2 (0.2 kW) GYB401D5-
BSMS0400CN 2 (0.4 kW)
BSMS0750CN 2 (0.75 kW)

GYB751D5- These characteristics indicate typical values of each
servomotor combined with the corresponding servo
amplifier BSDS series.
The rated torque indicates the value obtained when the
servo amplifier is installed to the following aluminum
heat sink.
Model BSMS0200, 0400 : 250 × 250 × 6 mm
Model BSMS0750 : 300 × 300 × 6 mm
8
356 Specifications
8.1.2 BSMS Motor

BSMS2000CN
BSMS1000CN BSMS1500CN BSMS3000CN
BSMS2000CB
8 BSMS1000CB BSMS1500CB BSMS3000CB

Specifications 357
 Torque characteristics diagrams (at 3-phase 200 [V] source voltage)

GYH102C6-T
BSMS1000CN 2 (1.0kW) GYH152C6-T
BSMS1500CN 2 (1.5kW)
GYH202C6-T
BSMS2000CN 2 (2.0kW) BSMS3000CN
GYH302C6-T 2 (3.0kW)
GYH402C6-T 2 (4.0kW) GYH552C6-T 2 (5.5kW)
GYH702C6-T 2 (7.0kW)
These characteristics indicate typical values of each
amplifier BSDS series.
The rated torque indicates the value obtained when the
servo amplifier is installed to the following aluminum
heat sink.
Model BSMS1000, 1500, 2000,3000 : 400 × 400

× 12 mm
358 Specifications
8.1.3 BSMS Motor

200 V series
BSMS0100CN
8
BSMS0100CB

Specifications 359
 Torque characteristics diagram (at 3-phase 200 V or single-phase 230 V

amplifier source voltage)
GYS500D5- 2 (0.05 kW) GYS101D5-

BSMS0100CN 2 (0.1 kW)
GYS201D5- 2 (0.2 kW) GYS401D5- 2 (0.4 kW)
GYS751D5- 2 (0.75 kW) GYS102D5- 2 (1.0 kW)
GYS152D5- 2 (1.5 kW) GYS202D5- 2 (2.0 kW)
GYS302D5- 2 (3.0 kW) These characteristics indicate typical values of each

amplifier. The rated torque indicates the value
obtained when the servo amplifier is installed to the
following aluminum heat sink.
Model BSMS0100 : 200 × 200 × 6 mm
360 Specifications
8.2 Specifications of Servo

Amplifier
8.2.1 Common Specifications
BSDS
8.2.2 Interface Specifications

8
Specifications 361
8.3 Dimensions of
Servomotor
8.3.1 BSMS Motor
Rated speed Rated output Flange dimensions MASS

Model codes L LL S
[r/min] [kW] LR LG LB KL1 LC LA LZ [Kg]
0.2 BSMS0200CN 112 82 30 6 50 43 60 70 5.5 14 1.0
3000 0.4 BSMS0400CN 134 104 30 6 50 43 60 70 5.5 14 1.5
0.75 BSMS0750CN 157 117 40 8 70 53 80 90 7 19 3.0
* See page 8-20 for the shaft extension specification of the motor with a key
8.3.2 BSMS Motor (With a Brake)

8
Rated speed Rated output Flange dimensions MASS

Model codes L LL S
[r/min] [kW] LR LG LB KL1 LC LA LZ [Kg]
0.2 BSMS0200CB 148 118 30 6 50 43 60 70 5.5 14 1.5
3000 0.4 BSMS0400CB 170 140 30 6 50 43 60 70 5.5 14 2.1
0.75 BSMS0750CB 194.5 154.5 40 8 70 53 80 90 7 19 3.9
362 Specifications
8.3.3 BSMS Motor
Rated Rated Flange dimensions

MASS
speed output Model codes Fig L LL S Q QK W T V SZ
LR KB1 [Kg]
[r/min] [kW]
1.0 BSMS1000CN A 221.8 163.8 58 87 22 50 35 6 6 3.5 M6 depth:15 6.5
1.5 BSMS1500CN A 241.8 183.8 58 107 22 50 35 6 6 3.5 M6 depth:15 8.1

2000
2.0 BSMS2000CN A 271.8 213.8 58 137 22 50 35 6 6 3.5 M6 depth:15 10.2
3.0 BSMS3000CN A 321.8 263.8 58 187 22 50 35 6 6 3.5 M6 depth:15 13.9
Rated Rated Flange dimensions

MASS
speed output Model codes Fig L LL S Q QK W T V SZ
LR KB1 [Kg]
[r/min] [kW]
1.0 BSMS1000CB C 276.3 218.3 58 87 22 50 35 6 6 3.5 M6 depth:15 8.1
1.5 BSMS1500CB C 296.3 238.3 58 107 22 50 35 6 6 3.5 M6 depth:15 9.7

2000
2.0 BSMS2000CB C 326.3 268.3 58 137 22 50 35 6 6 3.5 M6 depth:15 11.8
3.0 BSMS3000CB C 376.3 318.3 58 187 22 50 35 6 6 3.5 M6 depth:15 15.5

Specifications 363
8.3.5 BSMS Motor

Fig.A Fig.B (Unit : mm)
Power
Signal Supply Power
cable cable Supply
connector
Signal connector
Rated Flange dimensions

Rated MASS
output Model codes Fig L LL S
speed LR LG LE LB KL1 KL2 LC LA LZ [Kg]
[kW]
[r/min]
0.1 GYS101D5- B2 A 107 82 25 5 2.5 30 33 21 40 46 4.3 8 0.55

Fig.C Fig.D (Unit : mm)
Signal
cable
Power
Supply
cable
8
Power
Supply
connector
Signal connector
Rated Flange dimensions

Rated MASS
output Model codes Fig L LL S
speed LR LG LE LB KL1 KL2 LC LA LZ [Kg]
[kW]
[r/min]
0.1 GYS101D5- B2-B C 141.5 116.5 25 5 2.5 30 33 21 40 46 4.3 8 0.72
364 Specifications
8.4 Dimensions of Servo

Amplifier
BSDS0100-BSDS040 BSDS0750-BSDS1000
8 BSDS2000-BSDS3000

Specifications 365
8.5 Optional Specification of

Shaft Extension
[With a Key, Tapped]
8
BSMS0200CN
BSMS0400
BSMS0750
*1 The shaft extension of the BSMS motors of 0.1 kW or less is not tapped.
366 Characteristics
9
9.1 Timing Chart
9.1.1 Power-On Timing
 When the power is turned on
(1) After power-on, it takes about 2.0 seconds until initialization of the servo
amplifier is finished.
(2) Completion of initialization is indicated by activation of servo control ready
[S-RDY].
(3) After (2) is verified, the servo-on [S-ON] signal is turned on.
(4) After ready for servo-on [RDY] is turned on, the servo amplifier is ready to
operate.
Power Shutoff Power-on
Initialization of amplifier 2.0 s.
Servo control ready [S-RDY] OFF ON
Ready for servo-on [RDY] OFF ON

Characteristics 367
9.1.2 Each Signal Timing

 Sequence input signal response time
The response time from sequence signal activation to signal recognition inside
the servo amplifier is 2 ms. Leave the sequence input signal turned on for at 1
ms or more.
CONT signal 㻲㻩㻩 ON

(sequence input signal)
2 ms
Recognition by servo
amplifier OFF ON
[Example] Deviation clear signal

Deviation clear (50)
OFF ON OFF
2 ms
Position deviation amount pulses 0 pulses
Zero deviation (23)

OFF ON
2 ms
Pulse command
Can be input 㻰㼄㼜㻃㼑㼒㼗㻃㼅㼈㻃㼌㼑㼓㼘㼗 Can be input

9.1.3 Control Mode Selection Timing

Transition time for each control mode is 2 ms.
After issuing a selection signal, wait for 2 ms or more before issuing next commands.
[Example] Switching from position control to speed control 9
PA01_01 (control mode selection)
OFF ON
2 ms
Position Speed
Control mode
control control
Manual forward rotation [FWD] OFF ON
2 ms
Speed command voltage May not be input Can be input

368 Characteristics
9.1.4 Alarm Reset Timing

After an alarm occurs, it takes about 0.5 ms until alarm detection output.
It takes about 1.5 ms or 80 ms* after an alarm reset signal is issued until the alarm is
actually removed.
Alarm
Normal Alarm occurrence Normal
1.5 ms/80 ms*
Alarm reset
OFF ON OFF
Servo-on [S-ON]
ON
0.5 ms 1.5 ms/80 ms*

Ready for servo-on
[RDY] ON OFF ON
Servo alarm detection

(normally open contact) OFF ON OFF
Servo alarm detection

(normally closed contact) ON OFF ON
9
Characteristics 369
9.2 Overload Characteristic

The detection time and load factor characteristics until an overload alarm (OL1/OL2)
occurs are indicated by rotation speed. Load ratio data for overload operation (OL
thermal value) when servo amplifier is shut-down is memorized on EEPROM and
servo amplifier starts thermal operation from the memorized value when main power
is ON. As such, there are cases overload alram occurs earlier than the following
characteristics, depending on load ratio condition when main power is OFF.
9.2.1 BSMS Motor (100W-750W)

(1) In case of operation at rated rotation speed (3000 r/min)
Target capacity: all capacities* *Other than 0.4 kW
㻔㻓㻓㻓
㻲㻯䜦䝭䞀䝤᳠ฝ᫤㛣㻃㻾㼖㼀
OL alarm detection time [s]
㻔㻓㻓
㻲㻯㻔䜦䝭䞀䝤
㻲㻯㻕䜦䝭䞀䝤
OL1 alarm
㻔㻓
OL2 alarm
㻔
㻓㻘㻓㻔㻓㻓㻔㻘㻓㻕㻓㻓㻕㻘㻓㻖㻓㻓
ㇿⲬ⋙㻃㻾㻈㼀
Load factor [%]
(2) In case of operation at maximum rotation speed (6000 r/min)

9
Target capacity: 0.05 kW to 0.75 kW* *Other than 0.4 kW
㻔㻓㻓㻓
OL alarm detection time [s]
㻔㻓㻓
OL1 alarm
㻔㻓 OL2 alarm
㻔
Load factor [%]
370 Characteristics
(3) In case of operation at max. rotation speed (5000 r/min)

Target capacity: 1.0 kW or more
alarm detection time [s]
㻲㻯䜦䝭䞀䝤᳠ฝ᫤㛣㻃㻾㼖㼀㻔㻓㻓㻓
㻔㻓㻓
OL1 alarm
OL2 alarm
㻔㻓
OL
㻔
Load factor [%]
* Overload characteristics of 0.4 kW 㻔㻓㻓㻓
࣬When operated with rated speed

detection time [s]
(3000 [r/min])
㻔㻓㻓
OL1 alarm
OL2 alarm
OL alarm
㻔㻓
9 㻔
Load factor [%]
࣬When operated with max. speed 㻔㻓㻓㻓
(6000 [r/min])
detection time [s]
㻔㻓㻓
OL1 alarm
OL2 alarm
㻔㻓
OL alarm
㻔
Load factor [%]
Note The OL1 alarm detection time is 15 [r/min] or more. The alarm time will be
detected in shorter time (0.25sec/300%) if the motor is stopped due to machine
entanglement or other reasons resulting in overload.
Characteristics 371
9.2.2 BSMS Motor(1kW-3kW)

(1) In case of operation at rated rotation speed (2000 r/min)
Target capacity: 1.0 kW to 3.0 kW
㻔㻓㻓㻓
OL1 alarm
detection time [s]
㻲㻯䜦䝭䞀䝤᳠ฝ᫤㛣㻾㼖㼀
㻔㻓㻓㻲㻯㻕䜦䝭䞀䝤
OL2 alarm
OL alarm
㻔㻓
㻔
ㇿⲬ⋙㻾㻈㼀
Load factor [%]
(2) In case of operation at max. rotation speed (2500 r/min)

Target capacity: 1.0 kW to 3.0 kW
㻔㻓㻓㻓
9
detection time [s]
㻲㻯䜦䝭䞀䝤᳠ฝ᫤㛣㻾㼖㼀
㻔㻓㻓㻲㻯㻔䜦䝭䞀䝤
OL1 alarm
OL2 alarm
OL alarm
㻔㻓
㻔
ㇿⲬ⋙㻾㻈㼀
Load factor [%]
372 Characteristics
Power Supply Capacity and Generated Loss
Loss in amplifier (Qamp)
Loss in motor (Qmot)
Power
Power supply consumption (P)
capacity
>N9$@
Power
Rated Power Loss in Loss in
Servo amplifier Capacity supply
rotation Servomotor model consumption amplifier motor
model [kW] capacity
speed (P) [kW] (Qamp) [kW] (Qmot) [kW]
[kVA]
BSDS0100 BSMS0100 0.1 0.2 0.13 0.021 0.011
BSDS0200 BSMS0200 0.2 0.4 0.25 0.027 0.022
BSDS0400 BSMS0400 0.4 0.8 0.48 0.038 0.044
3000 BSDS0750 BSMS0750 0.75 1.5 0.89 0.059 0.083
r/min BSDS1000 GYH102C6- 2 1.0 2.0 1.2 0.073 0.11
BSDS1500 GYH152C6- 2 1.5 2.9 1.8 0.103 0.17
BSDS2000 GYH202C6- 2 2.0 3.9 2.4 0.13 0.22
BSDS3000 GYH302C6- 2 3.0 5.9 3.5 0.19 0.33
9
Characteristics 373
9.3 Inrush Current

The allowable inrush current of the servo amplifier is specified below.
Servo amplifier model Inrush current [A]
BSDS0100- BSDS0200
BSDS0400
7.2
BSDS0750-BSDS1000
BSDS1500
BSDS2000-BSDS3000 23.5
The inrush current indicates the maximum peak current.
• The inrush current indicates the maximum peak current.
9
374 Characteristics
9.4 Bending Strength of

Cable
The bending life of the cable used at a bending radius larger than the recommended
bending radius R of 60 mm is 5,000,000 cycles or over when tested under the
following conditions.
<Testing conditions>
(1) Use testing apparatus shown in the figure below to cause the cable to be bent in
a traveling distance L of 300 mm.
(2) Count each reciprocal test cycle. Count the bending frequency until conductors
are broken.
9
The cable life depends largely on the handling method. The bending life is a
reference value for the testing conditions specified above.
Peripheral Equipment 375
10
10.1 Overall Configuration of
Peripheral Equipment
376 Peripheral Equipment
MCCB/ELCB
Install in the primary circuit (power supply circuit) of the servo
amplifier to protect the servo amplifier against damage caused
by power switching or short circuiting current.
Insert the electromagnetic contactor between MCCB/ELCB and
AC reactor if one is to be used.
AC reactor
Install for large power supply
capacities, imbalance in the
source voltage, and suppression
of harmonics.
RS-485 cable
Power filter
Install to suppress harmonics in the
power supply circuit and to protect the
Surge absorber servo amplifier against surges and
noises in the power supply.
This equipment protects the servo
amplifier from lightning surge.
Sequence I/O cable

ձ
Encoder cable
Motor power cable
ճ
մ
10
resistor (option)
ղ
Servomotor
Wiring connectors do not come with the servo amplifier or servomotor.

Prepare the necessary option cable or connector kit.
10.2 Cable Size

 Main circuit section
600 V class 2 vinyl cable, or 600 V polyethylene insulated cable (HIV cable)
When compared with the IV cable, the cable size is smaller and the cable is
superior in flexibility and the maximum allowable temperature as an insulated
cable is as high as 75°C. Therefore this cable is used both for the main circuit
and for the control circuit.
However, if the cable is used for the control circuit, the wiring distance must be
short and the cable must be twisted.
600 V cross linked polyethylene insulated cable (CV cable)

Mainly used for the main circuit and grounding circuit. When compared with the
IV and HIV cables, the cable size is smaller and the cable is superior in flexibility.
Due to these features, the cable is used for higher ambient temperatures (50°C,
etc.), reduced cable space, improved actuation efficiency, etc. The maximum
allowable temperature as an insulated cable is 90°C.
[Example]:BOARDLEX made by FURUKAWA ELECTRIC
 Control circuit section

Twisted shielded cable for electronic and electric devices
Used for control circuits. Use this cable for applications susceptible to (potential)
radiant noise and inductive noise. The cable has a large shielding effect. Even
inside panels, use this cable without fail if the wiring distance is long.
[Example]: BEAMEX S shielded cable XEBV or XEWV made by FURUKAWA
ELECTRIC
Encoder section
The encoder cable of the servomotor is a composite 2C (cable), 2P (pair)
shielded cable housing different cable sizes shown below.
Cross linked polyethylene vinyl sheath cable for robot travel (composite cable) 10
(DAIDEN Co., Ltd.)
RMCV-SB-A (UL2464) AWG#25/2P+AWG#23/2C (wiring length ≤ 10 m)
RMCV-SB-A (UL2464) AWG#25/2P+AWG#17/2C (10 m < wiring length ≤ 50 m)
10.2.1 Main Circuit Section Cable Size

The following cable sizes are recommended for parts (1), (2), (3) and (4) specified
on page 10-2.
 Single-phase 200 V
Recommended cable size [mm2]
Rated (1) Power supply (L1,L2,L3)
(2) Regenerative resistor
rotation Capacity (3) Motor power (U,V,W)
(RB1, RB2, RB3)
speed [kW] (4) Earthing (E)
[r/min]
75[Υ] 90[Υ] 75[Υ] 90[Υ]
(HIV) (CV) (HIV) (CV)
0.1
3000 To 1.25 0.75 1.25 0.75
0.75
 3-phase 200 V
Recommended cable size [mm2]
Rated (1) Power supply (L1,L2,L3)
(2) Regenerative resistor
rotaion Capacity (3) Motor power (U,V,W)
(RB1, RB2, RB3)
speed [kW] (4) Earthing (E)
[r/min]
75 [Υ] 90 [Υ] 75 [Υ] 90 [Υ]
(HIV) (CV) (HIV) (CV)
0.1
3000 to 1.25 0.75
0.75
10
1.0 1.25
1.25 1.25
0.75
2000 1.5
2.0 2.0
3.0 1.25
10.2.2 Encoder Cable

Use the specified shield cable for encoder wiring of the servomotor.
The optional cable for the servomotor is a UL-rated cable having bend resistance.
Use a regular twisted pair batch shield cable if the servomotor and cable do not
move.
 Cross linked polyethylene vinyl sheath cable for robot travel (flame-
resistant) (Daiden Co., Ltd.)
RMCV-SB AWG#25/2P + AWG#23/2C or AWG#23/3P
(For 10 m or smaller wiring length)
RMCV-SB AWG#25/2P + AWG#17/2C or its equivalent
(For wiring lengths < 10 m and ≤ 50 m)
The relationship between AWG and mm is shown below.
Gauge SI unit Inch unit

Cross
Diameter Diameter Cross
A.W.G In [mm2] section
[mm] [mil] section [CM]
[mm2]
16 1.25 1.291 1.309 50.82 2583
17 - 1.150 1.037 45.26 2048
18 - 1.024 0.8226 40.30 1624
19 - 0.9116 0.6529 35.89 1288
20 - 0.8118 0.5174 31.96 1021
21 - 0.7299 0.4105 28.46 810.0
22 - 0.6438 0.3256 25.35 642.6
23 - 0.5733 0.2518 22.57 509.4
24 - 0.5106 0.2024 20.10 404.0 10
25 - 0.4547 0.1623 17.90 320.4
10.2.3 How to Calculate the Servo Amplifier Input Current

Calculate the servo amplifier input current in the following equation to select
peripheral equipment.
Formula
Input current (single-phase 200 V): Iin = (Po + Pi) / (Vac × 1.35 × ηamp × ηmot)
× 1.27 × √3
Input current (3-phase 200 V): Iin = (Po + Pi) / (Vac × 1.35 × ηamp × ηmot) × 1.27
ηamp (amplifier efficiency) = 0.95 and ηmot (motor efficiency) = 0.90 are
common among all models.
Internal power Input current for
Rated rotation Capacity Input voltage Input current selection of peripheral
consumption
speed (Po) (Vac) (Pi)
(Iin) equipment
[r/min] [kW] [V] [A]
[W] (Iin×1.5) [A]
0.1 1.3 2.0

3000 0.2 180* 15 2.4 3.6
0.4 4.7 7.1
0.75 8.6 13.0
* -10% of 200 V
 3-phase 200 V
Internal power Input current for
Rated rotation Capacity Input voltage Input current selection of peripheral
speed consumption
(Po) (Vac) (Pi)
(Iin) equipment
[r/min] [kW] [V] [W]
[A]
(Iin×1.5) [A]
0.1 0.7 1.1

0.2 1.4 2.1
3000
0.4 2.7 4.0
0.75 170* 15 5.0 7.4
1.0 6.6 9.8
10 2000 1.5 9.8 14.7
2.0 13.0 19.5
* -15% of 200 V
10.2.4 Conditions for Selecting Peripheral Equipment of

Servo Amplifier
 To select peripheral equipment for a single servo amplifier
Obtain “1.5 times” the input current (Iin) obtained above.
 To select peripheral equipment for two or more servo amplifiers
Multiply “1.5 times” the sum of the input currents (Iin) of all servo amplifiers.
[Example] In case of two 200 W units and three 400 W units (In case of single-
phase 200 V)
I = {(2.4 × 2) + (4.7 × 3)} × 1.5 = 28.35 A
Select peripheral equipment having 28.35 A or a larger rated current.
10.3 MCCB/ELCB (Molded

Case Circuit Breaker/
Earth Leakage Breaker)
Install MCCB (molded case circuit breaker) or ELCB (earth leakage breaker) in
the primary circuit (power supply circuit) of the servo amplifier to protect the servo
amplifier against losses caused by the power switching current and short circuit
current. Models for a single servo amplifier are described here. Because the servo
amplifier is provided with protective functions against output circuits such as the
overcurrent, protective devices such as the thermal relay are unnecessary.
Models of molded case circuit breaker and earth leakage breaker
Rated rotation ELCB

speed [r/min]
Capacity [kW] MCCB (Sensed current: 30 mA)
BW32AAG-2P/3 EW32AAG-2P/3
0.1
3000 0.2 BW32AAG-2P/5 EW32AAG-2P/5
0.4 BW32AAG-2P/10 EW32AAG-2P/10
0.75 BW32AAG-2P/15 EW32AAG-2P/15
Made by Fuji Electric FA Components & Systems
 3-phase 200 V
Rated rotation ELCB
speed [r/min]
Capacity [kW] MCCB (Sensed current: 30 mA)
10
0.1 BW32AAG-3P/3 EW32AAG-3P/3
3000 0.2
0.4 BW32AAG-3P/5 EW32AAG-3P/5
0.75 BW32AAG-3P/10 EW32AAG-3P/10
1.0 BW32AAG-3P/15 EW32AAG-3P/15
2000 1.5 BW32AAG-3P/20 EW32AAG-3P/20
2.0 BW32AAG-3P/30 EW32AAG-3P/30
10.4 Electromagnetic
Contactor
Connect the electromagnetic contactor to disconnect the servo amplifier from the
power supply with an external signal or to turn the power on or off from a remote
operation panel.
The model is to turn the primary circuit of a single servo amplifier of 500 kVA or less
power capacities with the designated cable size and 20 m or less wiring length.
If the power supply capacity exceeds 500 kVA, connect an AC reactor.
Models of electromagnetic contactor
 Single-phase 200 V  3-phase 200 V

Rated rotation Capacity Magnetic
Rated rotation Capacity Magnetic
speed [r/min] [kW] contactor
speed [r/min] [kW] contactor
0.1 0.1
SC-03 0.2
3000 0.2 3000 SC-03
0.4 0.4
0.75 SC-0 0.75
SC-03
2000 1.0
1.5
SC-4-1
2.0
10
10.5 Surge Absorber

 For protection from lightning surge
Install a surge absorber to protect servo system from the surge approaching from
the power line (induced lightning surge).
Serge absorber absorbs lightning surge, preventing malfunction or damage of a
servo system.
Recommendation [Soshin Electric product]

Single phase: LT-C12G801WS *
Three-phase: LT-C32G801WS
* The product for single phase has no L2 terminals.
<External dimensions> <Internalgi%(':RUG3LFWXUH
L3 L2 L1
L3 L2
L1
|
`
 For protection from open/close surge of peripheral equipment

To install a surge absorber to peripheral equipment (electromagnetic contactor,
solenoid, electromagnetic brake, etc.) of the servo amplifier, use the following 10
one.
When an inductive load such as the clutch and solenoid is turned off, a counter
electromotive force of several hundreds or several thousands of volts [V] is
generated. The surge absorber suppresses the surge voltage.
For DC devices, install a diode to suppress the surge voltage.
Control relay, etc.

Model: S1-B-0 (made by OKAYA ELECTRIC INDUSTRIES)
㻖㻓㻓㻗㻓㼳㻔㻕㻓㼳㻔
㻕㻚㻑㻘
㹐mm㹒
Electromagnetic contactor, etc.

Model: S2-A-0 (made by OKAYA ELECTRIC INDUSTRIES)
㻖㻓㻓㻗㻓㼳㻔㻖㻓㼳㻔
㻖㻚㻑㻘
㹐mm㹒
Applicable to 250 VAC or less voltages

A non-inductive capacitor and a non-inductive resistor are connected in series and
filled in epoxy resin.
S1-B-0:200 Ω (1/2 W)+0.1 μF
S2-A-0:500 Ω (1/2 W)+0.2 μF
䚭䠥䠃䟿䠔䟿䠂
㻓㻑㻔㻃䃒䠘䟿㻕㻓㻓㻃䂿
䚭䚭䠓䠕㻕㻘㻓㻃䠨䠓䠕䠔
The purpose of the surge
absorber is suppression of the
䠄䠂䠂䂿䟽䠂䠀䠃䃒
Preliminary
Series connection
Mounting surge voltage.
solder leg
(flame retardant construction)
treatment
Protection in AC circuit Protection in DC circuit

10 C-R circuit Diode
(Protection of the DC circuit is also provided.) (Be aware of the orientation of the diode.)
Load Load

10.6 Power Filter

The servo amplifier performs high frequency switching under PWM control similarly
to general-purpose inverters. Therefore radiant noise, conductive noise and so on
may give effect on peripheral equipment.
The following method is effective as a countermeasure.
Radio
Radiant noise
Power transformer Servomotor

Power
supply
Servo amplifier M
Conductive
noise Static induction Electromagnetic induction noise
noise
Measuring
Sensor
instrument
Electronic
device
(1) House the servo amplifier in an iron (conductive) control panel and ground the
control panel.
Do not install a PC or measuring instrument nearby.
(2) If devices connected to the same power supply are affected, install a power filter
in the primary circuit of the servo amplifier.
If devices in different power supplies are affected, install an obstruction wave
preventive transformer (TRAFY).
(3) Route cables between the servo amplifier and servomotor in a conductive duct
and ground the duct (multi-point grounding allowed).
(4) Use a grounding cable as thick and short as possible.
Connect the grounding cable directly from the copper bar to individual device (do
not use a jumper cable). A twisted or net cable has a larger effect.
(5) Never connect the following signals.
10
0 V of +12 to 24 VDC 0 V of encoder power supply

Grounding terminal 0 V of analog command
power supply for sequence
FG (Frame ground) voltage
I/O
(6) Do not tie the main circuit cable and control circuit cable together. Do not route
these cables in parallel.
Main circuit: Commercial power supply, motor power cable between servo
amplifier and servomotor
Control circuit: +24 VDC or less voltage signal cable
Servomotor encoder cable
(7) Use an obstruction wave preventive transformer (TRAFY) to connect 100 V
devices (such as the programmable logic controller and general-purpose PC) to
the 200 V power supply.
(7)
TRAFY PLC
(2) Power E
filter
E
(5) Servo E
amplifier
Copper bar
(1)
(4)
(6)
PG M (3)
Numbers (1), (2), ... in the figure indicate the paragraph number given on the
previous page.
Models of power filter
 In case of single-phase 200 V  In case of 3-phase 200 V

Rated rotation Capacity Rated rotation Capacity
Power filter speed [r/min]
Power filter
speed [r/min] [kW] [kW]
0.05
0.1 RNFTC06-20 0.1
RNFTC06-20
3000 0.2 3000 0.2
0.4 RNFTC10-20 0.4
0.75 RNFTC20-20 0.75 RNFTC10-20
RNFTC10-20
2000 1.0
10 Made by Fuji Electric Technica 1.5
RNFTC20-20
2.0
Made by Fuji Electric Technica
The purpose of the power filter is suppression of high frequency voltage fluctuation
caused by the servo amplifier in the commercial power supply.
Because the filter effect is bi-directional, the servo amplifier is also protected against
high frequency voltage fluctuation in the power supply.
10.7 AC Reactor
Connect an AC reactor in following cases.
(1) Large power supply capacity

With power supply capacities exceeding 500 kVA, the power-on input current fed
to the servo amplifier may become too large and cause damage to the internal
rectifying diode.
(The power supply capacity depends on the 20 m wiring length and the
designated cable size.)
(2) Imbalance in source voltage
If there is imbalance in the source voltage, the current gathers to the phase of a
higher voltage. Connect the AC reactor if the ratio of voltage imbalance is 3% or
above.
(Max. voltage [V]) - (Min. voltage [V])
(Ratio of power supply imbalance) = _____________________________ × 100
(Average voltage of threV])
Insert an AC reactor to balance the input current among phases. The AC reactor
also provides protection against loss of source voltage or similar hazards.
(3) Suppression of harmonics
The servo amplifier generates harmonics currents because it is a capacitor input
type. The AC reactor suppresses current distortion in the power supply system,
protecting devices in the same system against damage. Imbalance in the source
voltage increases harmonics currents.
Insert an AC reactor in the primary circuit of the servo amplifier. Heat generation
is caused with types of a small rated conductive current, and the suppression
effect is reduced with types of a large rated conductive current.
Model of AC reactor
10
 Single-phase 200 V  3-phase 200 V
Rated rotation Capacity Rated rotation Capacity
AC reactor speed [r/min]
AC reactor
speed [r/min] [kW] [kW]
ACR2-0.4 A
0.1 0.1 ACR2-0.4 A
3000 0.2 ACR2-0.75 A 3000 0.2
0.4 ACR2-1.5 A 0.4 ACR2-0.75 A
0.75 ACR2-2.2 A 0.75 ACR2-1.5 A
1.0
ACR2-2.2 A
2000 1.5
2.0 ACR2-3.7 A
 Harmonics suppression measures

1. All servo amplifier models are applicable to the “guideline of harmonics
suppression measures for high voltage or extra high voltage consumers” if they
are used at a specific consumer. If you are a consumer to whom the guideline is
applicable, calculate the equivalent capacity and harmonics outflow current and,
if the harmonics current exceeds the limit predetermined for the contract wattage,
take adequate countermeasures. (For details, refer to JEM-TR225.)
2. The servo amplifier was excluded from the target of “guideline of harmonics
suppression measures for electric appliances and general-purpose products” in
January 2004. However, JEMA prepares a JEMA technical document in the view
point of educating general harmonics suppression measures. It is recommended
to take harmonics suppression measures of the discrete device as far as
possible. (For details, refer to JEM-TR227.)
Source: The Japan Electrical Manufacturers’ Association (JEMA)
Limitations set in the guideline for harmonics suppression measures are satisfied
if the servo amplifier is connected with an AC reactor.
• How to connect the AC reactor

Connect in the primary circuit of the servo amplifier as shown in the figure below.
䜹䞀䝠䜦
Servo 䝷䝛
amplifier
ၛ⏕㞹″
Commercial power supply AC 䜦䜳䝌䝯
AC䝮reactor
୔┞200V200 V
3-phase
U X L1
V Y L2 Purpose of AC reactor
W Z L3 (1) Improvement of input power
factor
(2) Protection against imbalance
in voltage or similar
(3) Harmonics suppression
(4) Suppression of power supply
capacity
10
10.8 External Regenerative

Resistor
The external regenerative resistor consumes regenerative power generated by the
servomotor.
Use an external regenerative resistor if the elevating load is large and the operation
frequency is high.
Built-in External Applicable

Servo amplifier model Regenerative Regenerative
resistance [Ȑ]
resistor* Resistor
BSDS0100-BSDS0200 - WSR-401 39 to 180
BSDS0400 - (17W/68Ȑ) 39 to 90
BSDS0750-BSDS1000 20W/40Ȑ WSR-152 13 to 47
BSDS1500-BSDS2000 20W/15Ȑ (50W/15Ȑ) 8.2 to 27
DB11-2 8.2 to 20
BSDS3000 45W/12Ȑ
(260W/10Ȑ) 8.2 to 13
* The allowable wattage of the built-in regenerative resistor varies according to the ambient
temperature.
Block diagram of main circuit section (Frame 1)

External Regenerative
External Braking 䠤䠔䠄
Resistor
Resistor Servo amplifier
Servomotor
䠤䠔䠃

䠢(+)
10

Servomotor
䠞䠃
FUSE Inrush
䠞䠄 current
suppression 䠟
䠞䠅 resistor

䠠(-)
Use the external regenerative resistor in the designated set without fail.
There is a risk of fire.
Block diagram of main circuit section (frame 2 or higher)

Always disconnect the jumper wire across RB2 to RB3 when connecting the external
regenerative resistor.
䠤䠔䠄
Servo amplifier
䠤䠔䠅 Built-inregenerative
External braking
resistor
resistor
Externalregenerative
External braking 䠤䠔䠃
resistor
resistor
䠢(+)
Servomotor
䠞䠃
FUSE Inrush
䠞䠄 current
䠞䠅
suppression
resistor
䠟
䠠(-)
Use the external regenerative resistor in the designated set without fail.
There is a risk of fire.
10
 To connect the optional external regenerative resistor

Perform the wiring and set the parameters shown below so that the servo system is
shut off upon activation (the contact was open) of the thermistor built in the external
regenerative resistor.
• Wiring of thermistor output of external regenerative resistor

• Connect the wiring to one of the sequence inputs (CONT 1 to 5) of the servo
amplifier.
Frame 1 Frame 2 or higher

External
External braking
regenerative External
External braking
regenerative
resistor resistor
㻳㻋㻎㻌㻳㻋㻎㻌 (Disconnect the
㻧㻥㻧㻥 jumper wire.)
㻔㻔
㻳㻋㻎㻌㻵㻥㻔㻵㻥㻕㻱㻋㻐㻌㻳㻋㻎㻌㻵㻥㻔㻵㻥㻕㻵㻥㻖㻱㻋㻐㻌
㻕㻕
Servo amplifier Servo amplifier
㻔㻦㻲㻰㻬㻱㻔㻦㻲㻰㻬㻱
㻕㻦㻲㻱㻷㻔㻕㻦㻲㻱㻷㻔
㻖㻦㻲㻱㻷㻕㻖㻦㻲㻱㻷㻕
㻗㻦㻲㻱㻷㻖㻗㻦㻲㻱㻷㻖
㻘㻃㻃㻦㻲㻱㻷㻗㻘㻃㻃㻦㻲㻱㻷㻗
㻙㻃㻃㻦㻲㻱㻷㻘㻙㻃㻃㻦㻲㻱㻷㻘
Connect the wiring to one of the CONT Connect the wiring to one of the CONT
signals. (It is wired to CONT3 here.) signals. (It is wired to CONT3 here.)
• Parameter setting
• Allocate “34”(external regenerative resistor overheat) to PA3_01 to 05
(allocation to the connected CONT signal).
• Set PA2_65 (regenerative resistor selection) at “2” (external resistor).
* The external regenerative resistor will become excessively hot in the event of failure
of the regenerative transistor, possibly causing fire.
10
10.9 Optional Equipment

Sequence I/O cable (Pulse form: Differential)
Model: WSC-D26P02 (Cable length: 2 m)
WSC-D26P03 (Cable length: 3 m)
Applicable range: All models (for CN1)
Mark tube
 Cable color
Pin no. 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26
Insulator color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White
Mark type 1 1 1 1 1 2 2 2 2 2 3 3 3
Mark color RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black
 Length  Terminal layout

Model L[mm]
10 WSC-D26P02 2000
+200
0
+300
WSC-D26P03 3000
0
* Contact Fuji Electric if the cable of lengths other than above is necessary.
- The manufacturer of the connector is subject to change without notice.
Sequence I/O cable (Pulse form: Open collector)

Model: WSC-D26P02-F (Cable length: 2 m, Power supply: 24 VDC)
Mark tube
 Cable color
Pin no. 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26
㻱㻱
Mark type 1 1 1 1 1 2 2 2 2 2 3 3 3
㻦㻦
Mark color RED Black RED Black RED Black Black RED Black RED Black RED Black RED Black RED Black RED RED Black RED Black RED Black
Model L[mm]
+200
WSC-D26P02-F 2000
0
10
Sequence I/O cable (Pulse form: Open collector)

Model: WSC-D26P02 (Cable length: 2 m, Power supply: other than 24 VDC)
Mark tube
 Cable color
Pin no. 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26
Mark type 1 1 1 1 1 2 2 2 2 2 3 3 3
Mark color RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black

Model L[mm]
+200
WSC-D26P02 2000
0
10
Encoder cable (1)

Model: WSC-P06P02-E to WSC-P06P20-E
Applicable range: BSMS model ... 0.75 kW or less (for CN2)
Servo amplifier connector Servomotor connector
molex
18.8
3 2 1
6 5 4
9 8 7
135
24 6
19
12
18
42.5 L 47
䕋 Model and manufacturer Servomotor connector

Servo amplifier connector
Main body of plug housing 54180-0619 Cap 1-172161-9
Plug shell cover 58299-0626 Cap housing 316455-1
Plug shell body 58300-0626 Socket
170361-1䟺 Chain䟻
䟺 SIG+䚮 SIG-䚮 BAT+䚮 BAT-䟻
Plug mold cover (A) 54181-0615
Socket
Plug mold cover (B) 54182-0605 171637-1䟺 Chain䟻
䟺 P5䚮 M5䚮 FG䟻
Cable clamp 58303-0000 Screw 䟺 ×2䟻 XPB M2.6×10
Clamp screw 59832-0009 Nut䟺 ×2䟻 M2.6
Made by Molex Japan Co., Ltd. Made by Tyco Electronics Amp K.K.
䕋 Cable color
Servo amplifier side 1 2 3 4 5 6 Shell
Servomotor side 7 8 1 2 5 4 3
Blue
Shield
Orange
(1) Red Black Orange / / Blue
White White
Cable The cable color is either (1) or (2).
color
Shield
(2) White Black Yellow Brown Blue Red
Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG
10
䕋 Length
Model L [mm]
WSC-P06P02-E 2000+2000
WSC-P06P05-E 5000+5000
WSC-P06P10-E 10000+10000
WSC-P06P20-E 20000+20000
The manufacturer of the connector is subject to change without notice.

The movable cable is used.
CAUTION
Do not join two or more encoder cables to extend the wiring distance.
Otherwise the voltage drop caused by connector contact resistance will cause sudden
stoppage.
Motor power cable

Model: WSC-M04P02-E to WSC-M04P20-E
Applicable range: BSMS model ... 0.75 kW or less (for CN2)
Servo amplifier side Servomotor connector
㻜㻑㻛
Cable size: AWG#19×4
㻕㻔
㻗㻖
㻔㻓㻘
㻔㻔㻑㻛
㻘㻓
㻯㻕㻖㻑㻚
䕋 Model and manufacturer

Servomotor connector
Cap housing 㻔㻚㻕㻔㻘㻜㻐㻜
Socket 㻔㻚㻓㻖㻙㻕㻐㻔
Made by Tyco Electronics Amp K.K.
䕋 Cable color
Servo amplifier side 㻸㻹㻺㻨
Servomotor side 㻔㻕㻖㻗
Green
Cable color Red White Black /
yellow
Signal name 㻸㻹㻺㻨
10 䕋 Length
Model 㻯㻃㻾㼐㼐㼀
㻺㻶㻦㻐㻰㻓㻗㻳㻓㻕㻐㻨㻃㻃㻕㻓㻓㻓䟽㻕㻓㻓㻓
㻺㻶㻦㻐㻰㻓㻗㻳㻓㻘㻐㻨㻃㻃㻘㻓㻓㻓䟽㻘㻓㻓㻓
㻺㻶㻦㻐㻰㻓㻗㻳㻔㻓㻐㻨㻃㻔㻓㻓㻓㻓䟽㻔㻓㻓㻓㻓
㻺㻶㻦㻐㻰㻓㻗㻳㻕㻓㻐㻨㻃㻕㻓㻓㻓㻓䟽㻕㻓㻓㻓㻓

Brake cable
Model: WSC-M02P02-E to WSC-M02P20-E
Applicable range: BSMS model ... 0.75 kW or less (with brake)
Control device side Servomotor connector
㻘㻑㻙
Cable size: AWG#19×2

㻔㻔㻑㻛
㻯㻕㻖㻑㻚
䕋 Model and manufacturer

Servomotor connector
Cap housing 㻔㻚㻕㻔㻘㻚㻐㻜
䕋 Cable color
Control device side 㻐㻐
Servomotor side 㻔㻕
Cable color Red Black
Signal name 㻥㻥
䕋 Length
Model 㻯㻃㻾㼐㼐㼀
㻺㻶㻦㻐㻰㻓㻕㻳㻓㻕㻐㻨㻃㻃㻕㻓㻓㻓䟽㻕㻓㻓㻓
㻺㻶㻦㻐㻰㻓㻕㻳㻓㻘㻐㻨㻃㻃㻘㻓㻓㻓䟽㻘㻓㻓㻓
㻺㻶㻦㻐㻰㻓㻕㻳㻔㻓㻐㻨
㻺㻶㻦㻐㻰㻓㻕㻳㻕㻓㻐㻨
㻃㻔㻓㻓㻓㻓䟽㻔㻓㻓㻓㻓
㻃㻕㻓㻓㻓㻓䟽㻕㻓㻓㻓㻓
10

Sequence I/O connector kit

Model: WSK-D26P
Applicable range: All models
䕋 External Dimension 12 䕋 Model and manufacturer
Unit: [mm] Soldered plug 㻔㻓㻔㻕㻙㻐㻖㻓㻓㻓㻹㻨
Shell kit 㻔㻓㻖㻕㻙㻐㻘㻕㻤㻓㻐㻓㻓㻛
Made by Sumitomo 3M
10
25.8 14
䕋 Terminal layout 㻔㻔㻖
㻗㻔㻃㻋㻰㼄㼛㻑㻌
39
㻔㻗㻕㻙
23.8
37.2 12.7
The model of the connector kit is different from that of the optional cable.
Encoder connector kit (Amplifier side)

Model: WSK-P06P-M
䕋 External Dimension 䕋 Model and manufacturer
Unit: [mm]
Main body of plug housing 㻘㻗㻔㻛㻓㻐㻓㻙㻔㻜

㻗㻕㻑㻘㻃㻋㻰㼄㼛㻑㻌
Plug shell cover 㻘㻛㻕㻜㻜㻐㻓㻙㻕㻙
10
㻖㻚㻑㻗㻔㻕
Plug shell body 㻘㻛㻖㻓㻓㻐㻓㻙㻕㻙
Plug mold cover (A) 㻘㻗㻔㻛㻔㻐㻓㻙㻔㻘
Plug mold cover (B) 㻘㻗㻔㻛㻕㻐㻓㻙㻓㻘
㻘㻛㻖㻓㻖㻐㻓㻓㻓㻓
㼐㼒㼏㼈㼛
Cable clamp
㻔㻛㻑㻛
㻔㻛㻑㻗
㻔㻖㻘
㻕㻗㻙
Clamp screw 㻘㻜㻛㻖㻕㻐㻓㻓㻓㻜

䂼㻚㻑㻛 Made by Molex Japan
Encoder connector kit (Motor side)

Model: WSK-P09P-D
Applicable range: BSMS model ... 0.75 kW or less
䕋 External Dimension Unit: [mm] 䕋 Model and manufacturer

㻗㻚 Cap 1-172161-9
Cap cover 316455-1
Socket 170365-1(㼅㼘㼏㼎)
(SIG+,SIG-,BAT+,BAT-,FG) 170361-1(㼆㼋㼄㼌㼑)
㻔㻜
㻔㻗
Socket 170366-1(㼅㼘㼏㼎)
(P5,M5) 170637-1(㼆㼋㼄㼌㼑)
Screw䟺 ×2䟻 XPB M2.6×10
Nut䟺 ×2䟻 M2.6
㻛
䕋 Terminal layout
㻔㻗
㻔㻛
㻔㻕
㻖㻕㻔
㻘
㻙㻘㻗
㻜㻛㻚
Recommended connector kit (motor side) for BSMS type motor encoder wiring
Applicable range：BSMS type････1.0 to 3.0 kW
■Model and manufacturer
L-shaped clamp MS3108B20-18S
Cable clamp MS3057-12A
Made by Daiichi Denshi Kogyo
10
Power supply and motor power conncetor (Amplifier side)

Model: WSK-S06P-F
Applicable range: BSMS model････0.4 [kW]or less
■External Dimension ■Model and manufacturer
Connector 06JFAT-SAXYGG-F-KK
Open tool J-FAT-OT
J.S.T. Mfg. Co., Ltd.
■Terminal layout
Symbol Terminal Symbol Terminal
A1 L1 B1 U
A2 L2 B2 V
A3 L3 B3 W
Power supply conncetor (Amplifier side)

Model: WSK-S03P-F
Applicable range: BSMS model････0.75 kW

Connector 03JFAT-SAXGSA-L
Open tool J-FAT-OT
■Terminal layout
Pin no. 1 2 3
Name L1 L2 L3
10
Recommended BSDS type (frame 3) /UL standard compatible power supply

connector (amplifier side)
Applicable range: BSMS type････3.0 kW
Connector 03JFAT-SAXGFK-XL
Open tool J-FAT-OT-EXL
DC circuit connector (Amplifier side)

Model: WSK-R04P-F
Applicable range: BSMS model････0.4 [kW]or less

Connector 04JFAT-SBXGF-I
Open tool J-FAT-OT
■Terminal layout
Pin no. 1 2 3 4
Name P(+) RB1 RB2 N(-)
DC circuit connector (Amplifier side) *Provided with amplifier.

Model: WSK-R05P-F
Connector 05JFAT-SAXGSA-L
Open tool J-FAT-OT
■Terminal layout
Pin no. 1 2 3 4 5
Name P(+) RB1 RB2 RB3 N(-) 10
Motor power connector (Amplifier side)

Model: WSK-M03P-F
Connector 03JFAT-SAYGSA-L
Open tool J-FAT-OT
■Terminal layout
Pin no. 1 2 3
Name U V W
Recommended BSDS type (frame 3) / UL standard compatible motor power

connector (amplifier side)
Applicable range: BSMS model・・・3.0[kW]
Connector 03JFAT-SAYGFS-XL
Open tool J-FAT-OT-EXL
Motor power connector kit (Motor side)

Model: WSK-M04P-E
10 Applicable range: BSMS model ... 0.75 kW or less
䕋■ External Dimension Unit: [mm] 䕋■ Model and manufacturer

Cap housing 172159-1
Cap housing 172159-9
23.7
Socket
Socket
170362-1 (for 0.75 mm2)
170362-1
171637-1 (for 1.25 mm 2)
11.8
䕋■Terminal layout

1䠌 U
4

2䠌 V
9.8
3䠌 W
4
4䠌 E

Recommended connector kit (motor side) for BSMS type motor power wiring
Applicable range：BSMS model････1.0 to 3.0 kW
L-shaped clamp MS3108B20-4S㻃
Cable clamp MS3057-12A㻃
Motor power connector kit (Motor side : With brake)

Model: WSK-M06P-CA
Applicable range: BSMS model････1.0 to 3.0 kW (with brake)
■External Dimension
䕋 ■Model and manufacturer
䕋
Groove position
Unit : [mm] Connector 㻰㻶㻖㻔㻓㻛㻥㻕㻓㻐㻔㻘㻶
Cable clamp 㻰㻶㻖㻓㻘㻚㻐㻔㻕㻤
㻖㻚㻑㻖
Rubber bushing
㻛㻓㻑㻚
㻖㻚㻑㻖
㻚㻓㻑㻜
㻗
10

Brake connector kit (Motor side)

Model: WSK-M02P-E
Applicable range: BSMS model･･･0.75 kW or less (with brake)
䕋 External Dimension 䕋 Model and manufacturer

Unit: [mm]
Cap housing 㻔㻚㻕㻔㻘㻚㻐㻜
㻕㻖㻑㻚
㻔㻔㻑㻛
䕋 Terminal layout
㻕㻔䠌㻥
㻘㻑㻙
㻕䠌㻥
㻔
Battery (CN5)
Connect the optional battery.
When using a battery, use WSB-SC.
‫ ڦ‬Model and manufacturer
Housing IL-2S-S3L-(N)
1 BAT- 2 BAT+ Crimp terminal IL-C2-1-10000
Japan Aviation Electronics Industry, Ltd.
Battery + Battery case

Model: WSB-SC
10
‫ڦ‬ ‫ڦ‬
Battery ER1733WK41 1PP
Hitachi Maxell Ltd.

Monitor (CN4)
A measuring instrument or similar is connected to the connector 4 (CN4) of the servo
amplifier.
The signal of this connector is analog output voltage for measuring instrument and is
not necessary for servo amplifier operation.
This connector is not prepared as option.
1 MON1 3 M5(0 V) 3
1 Crimp socket DF11-4DS-2C
2 MON2 4 M5(0 V) 4 Crimp terminal DF11-2428SC
Hirose Electric Co., Ltd.

2
External regenerative resistor (1)

Model: WSR-401
Applicable range: servo amplifier model: BSDS0100－BSDS0400
182.5±1.5
172±1
150±1 1000 +1000
42.5
20±0.3
䈓ཱི௛㒂ฦ䛴ཉ䜅䛵䠃
* Thickness 䠀䠄䠿䠿
of the installed section: 1.2 mm 10
Item Specifications
Model WSR-401
Resistance 68 䂿
Resistor
Allowable power 17 W (cont.)
Operating temperature Open at 135 ±10°C
Thermistor Dielectric strength For 1 minutes at 1.5 kV AC
Contact capacity 30 VDC 3 A
• Connect the regenerative resistor to the servo amplifier with a 10 m or shorter

cable.
• The external regenerative resistor becomes hot. Keep flammable matters away
from the external regenerative resistor.
• For connection of the external regenerative resistor, refer to “10.8 External
Regenerative Resistor.”

Model: WSR-152
Applicable range: servo amplifier model: BSDS0750－BSDS2000
䠅䠆䠇㼳䠃䠀䠇
䠈䠂䠄䠇
䠇䠂
䠃䠊
䃜䠃䠇䟽䠂䠀䠅
䠕
䟿䠂
䠃䠂
䠆䟿
䠃䠂䠟䠅䠀䠇䠟䠆
䠊
㻃㻳㻃㻃㻧㻥㻃㻃㻔㻃㻃㻕
䠉䠈㼳䠃
䠂䠅
䟿䠂䠀
䠤
䟽
䠅䠀
䠇
䠅䠀
䠇
䠤
䠈䠅䠅䠄䟽䠂
䟿䠃䠀䠂䟺䠉䟻
䠄䠃䠂㼳䠃
䠋䠆㼳䠃䠀䠇
䠃䠇
䠄䠇
䡆䠄
Item Specifications
Model WSR-152
Resistance 15 䂿
Resistor
Allowable power 50 W䟺 cont.䟻
10 For 1 minutes at 2.5 kV AC

Thermistor Dielectric strength
Contact capacity 30 VDC 3 A

cable.
regenerative Resistor.”

Model: DB11-2
Applicable range: servo amplifier model: BSDS3000
142
74
R3.5
䃜15 160
7.5
10
31.6
430㼳1
415
M5 26.6
M3.5
7.5
1.6
R3.5
7
Item
Model
Specifications
WSR-152
DB11-2
10
Resistance 15
10Ȑ䂿
Resistor
Allowable power 50
260W䟺 cont.䟻
W㸝cont.㸞
Thermistor Dielectric strength For 1 minutes at 2.5 kV AC
Contact capacity 30 VDC
120 3A
V AC /30 V DC 1A

cable.
regenerative Resistor.”
Absolute Position System 411
11
11.1 Specifications
11.1.1 Specification List
Item Description
Method Battery backup method
Battery Lithium battery (primary battery, nominal +3.6 V)
Max. rotation range Home position ±32767 rev
Max. rotation speed at power
6000 r/min
failure
Service life of battery About 35000 hours (life without power turned on)
It is recommended to replace the battery periodically (every three years or more

frequently) despite the power-on or shutdown state.
11.1.2 Precautions
 Marine or air transport of battery (lithium-metal battery)
The following precautions must be taken when you transport lithium-metal
batteries in any of the conditions of the followings: individually, packaged with the
devices, or mounted in devices.
1) When transporting lithium-metal batteries mounted in devices
When transporting the batteries together with a control panel or the like
instrumented with five or more servo amplifiers into which the batteries are
mounted, attach the label Fig. 1 below and submit the transportation documents.
2) When transporting lithium-metal batteries packaged with devices
It is necessary to attach the label Fig. 1 below and submit the transportation
documents to issue the drop test certificate.
Furthermore, the allowable number of the batteries to be transported by air is the
number required to operate the device plus two.
412 Absolute Position System
Fig.1 Label to be attached to the package outer surface

Size: 120 ×110 mm
For details contact us or Fuji Electric Systems representative.
 Conditions blocking establishment of absolute position system

The absolute position system is not established under the following conditions.
• The electronic gear setting is changed after position preset.
• The command pulse ratio is changed after position preset.
The absolute position system can be established even under speed control or
torque control.
11
11.2 Battery Installation

and Replacement
Procedures
11.2.1 Battery Installation Procedure [Frame 1]
Install the battery with the following procedure.
Appearance with the battery mounted
ձ Put the battery in the battery case first.
Connect the lead wire connector of the battery to

CN5 on the front panel of the servo amplifier.
ղ Fit the four tabs of the battery case into the

mounting holes on the servo amplifier front face.
㸶
Fit the tabs on A side first and then B side (or B side
first and then A side) to fit the case in readily way.
11
%
ճ Check the condition if the case is fitted securely.

- Has the connector been inserted securely?
- Have all of the four battery case tabs been fitte d to
the front face of the servo amplifier?
11.2.2 Battery Installation Procedure [Frame 2, 3 and 4]
Appearance with the battery mounted
ձ Put the battery in the battery case first.
Connect the lead wire connector of the battery to

CN5 on the front panel of the servo amplifier.
ղ Fit the four tabs of the battery case into the

mounting holes on the servo amplifier front face.
㸶 Fit the tabs on A side first and then B side (or B side
first and then A side) to fit the case in readily way.
%
ճ Check the condition if the case is fitted securely.

- Has the connector been inserted securely?
- Have all of the four battery case tabs been fitted to
the front face of the servo amplifier?
11 11.2.3 Battery Replacement Procedure

Reverse the installation procedure to remove and install the new battery according
to the installation procedure.
Be sure to leave the power supplied when working.

Leave the encoder cable connected.
11.3 Starting Up Procedure

Follow the procedure below to start up the absolute position system.
Install the battery. Follow the description of section

[1]
11.2 to install the battery correctly.
Set PA1_02 (INC/ABS system) at 1 (ABS) or 2

[2] Enter PA1_02.
(endless non-overflow ABS).
Turn the main power off then To make new parameters enabled, turn the power off
[3]
on again. then on again.
dL1
An absolute data lost alarm (dL1) is caused when
[4] Perform position preset.
the power is turned on first after the absolute
position system is established. Execute position
preset to remove the alarm.
Perform homing. To establish the coordinate system of the absolute

[5]
position system, execute regular homing.
[6] Execute regular operation. After above steps [1] through [5] are finished, the absolute 11
position system is established. You can start regular
operation.
If the encoder cable is disconnected due to transportation or device changes, repeat the procedure
from step [4].
11.4 Battery Warning

A battery warning is issued if the battery voltage is lower than the value preset in the
servo amplifier.
If this warning* is issued, replace the battery immediately.
* The battery warning is detected when the control power is turned on. If the battery
is kept installed and the system is left shut off for a long time, the battery life limit
may be reached before the battery warning is issued.
There are the following three ways to check the battery warning.
(1) OUT signal (assignment number: 45)
(2) [Monitor] - [Warning/Forecast monitor] of PC Loader
(3) Maintenance mode of keypad

The battery warning can be checked in the maintenance mode of the keypad.
SET
(1 sec. or over)
En03 ESC
0111
Cooling fan life forecast Battery warning
Main circuit capacitor life
* Set PA2_78 (display transition at warning detection) at 1 (transition to warning

display) to automatically show (3) at the keypad.
11
11.5 Calculation of Battery

Life
The battery life elapses if the control power of the servo amplifier is left turned off for
35,000 hours. During actual operation, the power-on and shutoff cycles are repea-
ted. An example of calculation of the service life in this case is shown as a reference.
Note that the value is merely a calculated value and it is not guaranteed. Note, too,
that the service life becomes shorter under some ambient environmental conditions.
 Operation condition
Operation No operation
1 day 10 hours 14 hours
1 year* About 261 days (= 365 days x 5 / 7) About 104 days (= 365 days x 2 / 7)
* Assumption: operation on Monday through Friday, no operation on Saturday and Sunday
* Assumption: operation on Monday through Friday, no operation on Saturday

and Sunday
 Current consumption
Current consumption in power-on phase: 0.0075 mA
Current consumption in shutoff phase: 0.0415 mA (= 0.0075 mA + 0.034 mA)
 Calculation of service life

Annual battery capacity consumption
(10 Hr × 0.0075 mA + 14 Hr × 0.0415 mA) × 261 days + 24 Hr × 0.0415 mA
× 104 days = 275 mAh
Annual battery life estimation
1600 mAh / 275 mAh/year = 5.8 years
Hence the service life of the battery is about 5.8 years* under the above opera-
tion conditions.
11
* However, the battery manufacturer recommends to stop using the battery after
three years of operation. Periodic replacement within three years is recommended
without relations to the operation conditions.
* In the case of wrong wiring in encoder cable, the battery life possibly becomes
extremely short.
Positioning Data 419
12
12.1 Operation Modes
12.1.1 Operation Method
Positioning operation based on positioning data and immediate value data can be
conducted with this servo amplifier.
(1) Positioning data operation
Set data items to positioning data inside the servo amplifier in advance and
designate the address (data number) of the desired operation data among AD0
to AD3 at the host controller, etc.
Turn on the start positioning (START) to execute the positioning operation
according to the preset data.
Interface: Di / Do signal or RS-485 communications (Modbus-RTU)
Positioning data NO.1

Host controller
- Position data
- Speed data
- Timer data
- M code
Address (AD0 to AD3) - Position data
- Status
- Speed data
- Acceleration time
- Timer data
Start positioning (START) - Deceleration time
- M code
- Status
- Acceleration time
- Position data
- Deceleration time
- Speed data
- Timer data
- M code
- Status
- Acceleration time
Up to 15 points can be registered as positioning data. - Deceleration time
Register data, using PC Loader or at the keypad.
420 Positioning Data
(2) Immediate value data operation

Designate position data, speed data and so on at the host controller directly to
execute positioning operation.
Interface: RS-485 communications (Modbus-RTU)
Amplifier (slave)
Host controller
(master)
Immediate value data, start positioning (START)
Immediate value data

- Position data
- Speed data
- Timer data
- M code
- Status
- Acceleration time
- Deceleration time
<Message>
• Messages are sent from the master to the slave in the uni-cast method where the
immediate value data, monitor data and so on are sent with the station number of
the slave and then a response message is sent.
• To start two or more axes simultaneously, you can use the broadcasting method
where transmission is made to all slaves through designation of station number 0.
In the broadcasting method, no response message is sent. For this reason,
you can send the start positioning signal in a broadcasting message to execute
motions under pseudo interpolation control.
12
<Message>
The following parameters must be entered for operation based on immediate data.
• PA1_01: control mode selection = 7 (positioning operation)
• PA2_40: internal positioning data selection = 0 (disable)
• PA2_41: sequential start selection = 3 (immediate value data operation)
• PA2_97: communication protocol = 1 (Modbus-RTU)
12.1.2 Operation Mode Selection

Positioning operation based on positioning data and immediate value data can be
conducted with this servo amplifier.
To change the operation mode, enter parameters shown in the table below and
supply an input signal.
The setting in operation mode (1) is enabled if “77” (positioning data selection) is not
specified with the CONT signal.
<Operation mode (1)>

Internal
Sequential
Control mode positioning
start
selection: data AD3 AD2 AD1 AD0 Operation
selection:
PA1_01 selection:
PA2_41
PA2_40
7: Positioning 1: Enable 0: Disable OFF OFF OFF OFF Address error
operation 1: Enable Sequential start
2: Homing Homing
3: Immediate Immediate value
value data data operation
operation
OFF OFF OFF ON Operation with
positioning data
No. 1
ON ON ON ON Operation with
positioning data
No. 15
0: Disable PA2_97: Communication protocol selection = 1 * Operation with
immediate value
data
Immediate value data operation is impossible with the PC Loader protocol.
12
If “77” (positioning data selection) is specified with the CONT signal, the setting in
operation mode (2) is enabled.
㸱Operation mode (2)㸳
Internal
positioning
Control mode Sequential
data
selection: start selection: AD3 AD2 AD1 AD0 Operation
selection:
PA1_01 PA2_41
CONT
signal: 77
7: Positioning ON 0: Disable OFF OFF OFF OFF Address error
operation 1: Enable Sequential start
2: Homing Homing
3: Immediate Immediate value
value data data operation
operation
OFF OFF OFF ON Operation with
positioning data
No. 1
ON ON ON ON Operation with
positioning data
No. 15
OFF PA2_97: Communication protocol selection = 1 Operation with
immediate value
data
12
12.2 Settings
12.2.1 Positioning Data Specifications
By providing a start positioning signal as assigned from an external address (AD3-
AD0), positioning operation is started according to the settings.
The content of the internal positioning data is as follows:
Default
Item Setting range
value
No. of positioning data addresses 15 (addresses 1-F)
Positioning Status (ABS/INC) ABS, INC, CO, CEND, and M code INC and M
data setting enable/disable code
M code output during positioning/after disable
positioning completion
Position (stop position) -2000000000 to +2000000000 units 0
Speed (rotation speed) 0.01 to max. rotation speed [r/min] 0.01
Stand still timer 0.00 to 655.35 s or 0.00
0.000 to 65.535 s (Note 1)
Acceleration time 0.0 to 99999.9 ms 0.0
However, when 0.0 is set, the amplifier
follows the acceleration time 1 (PA1_37) or
2 (PA1_39) (Note 2) selected by ACC0.
Deceleration time 0.0 to 99999.9 ms 0.0
follows the deceleration time 1 (PA1_38) or
M code 0 to 0xFF 0xFF
Note 1: Set by the decimal point position of stand still timer (PA2_42).
Note 2: If ACC0 (set to 14) has not been assigned to the CONT signal, acceleration/deceleration time values
follow acceleration time 1 (PA1_37) and deceleration time 1 (PA1_38).
12
12.2.1.1 Position data (stop position)

Specify a position at which the servo motor stops when the status is ABS. Specify an
increment when the status is INC.
To travel the mechanical system for the same amount (20.00 mm) as the setting of
positioning data (ex. 20.00), the following parameter setting is necessary.
For the details of setting, refer to “PA1_06 Numerator 0 of electronic gear, PA1_07
Denominator of electronic gear” and “PA2_01 Decimal point position of positioning
data.”
PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic

gear
Default
value
Numerator 0 of 1-4194304
06 16 Always
electronic gear
Denominator of 1-4194304
07 1 Always
electronic gear
PA2_01 Decimal point position of positioning data
Default
value
Decimal point position of 0:0 1:0.1 2:0.01 3:0.001

01 0 Always
positioning data 4:0.0001 5:0.00001
12.2.1.2 Speed data (motor axis rotation speed)

Set a rotation speed at which the servo motor rotates up to a specified position of
positioning data.
This setting is not a traveling speed of the mechanical system but a rotation speed of
the servo motor axis [r/min].
Speed data can be set from the minimum value, 0.01, to the maximum rotation
12 speed of the servo motor by 0.01 r/min.
12.2.1.3 Stand still timer (stop time)

After the motor has reached a specified position of the positioning data, when the set
time of the stand still timer has passed, the in position [INP] signal is output outside.
(It is impossible to set the stand still timer on immediate value data.)
This timer can be set from 0.00 to 655.35 s in increments of 0.01 s.
By changing the setting of the PA2_42 decimal point position of stand still timer, it is
also allowed to set from 0.000 to 65.535 s.
Stand still timer of positioning data
Position data (stop position)
Rotation Speed data (rotation speed)

speed
No. 5 (M code : 20)
Time
Stand still timer
(stop time)
Ready ON
Start
OFF ON
positioning
AD3-AD0 5 9
In position ON OFF ON
(lNP)
M code (output FF 20 FF
at startup)
䝿 Positioning data are regarded as being executed while the timer is measured .
䝿 The default value of the M code is "FF" (changeable into "00" by PA2_43).
12.2.1.4 Acceleration time and deceleration time

Set an acceleration/deceleration time of the servo motor.
Setting value of the acceleration/deceleration time is a time setting before reaching 0
to 2000 r/min.
However, if the setting is 0.0 (default value), as shown in the table below, the motor
follows the acceleration/deceleration time is set by parameters by turning ON/OFF
ACC0.
ACC0 (14) Acceleration time Deceleration time
12
OFF PA1_37 PA1_38
ON PA1_39 PA1_40
For details of acceleration time and deceleration time, refer to “PA1_36 to 40

Acceleration time and deceleration time settings” in CHAPTER 4 on page 4-21.
12.2.1.5 Status (command system, step mode)

To set status, ABS/INC, CO, CEND, and M code enable/disable are usable.
It is also allowed not to specify CO or CEND.
Use CO when operate data continuously.
Use CEND when starting up the motor in series.
 Absolute (ABS) / Incremental (INC)

When ABS specification is applied, the current position of the motor moves up to
the setting of the positioning data.
When positioning data is set to 0 and the motor is started up by the positioning
data of ABS, the motor moves up to the zero point from any position.
When INC specification is applied, the servo motor moves from the current
position by the setting of the positioning data.
When positioning data is set to 100.0, the servo motor moves from the current
position by 100.0 in the positive direction.
 Data continuation (CO)

When the motor is started up by positioning data with data continuation specified,
positioning is completed by the data, and then the motor moves according to the
setting of the next positioning data.
If data continuation is specified on positioning data 5, the motor moves according
to positioning data 6.
In the same way, if data continuation is specified on positioning data 6, the motor
moves according to positioning data 7.
If the stop timer is set to 0.00 s, traveling speed varies continuously.
If the stop timer is set to 0.00 s, speed varies depending on the setting of
positioning data.
Data continuation of positioning data
Rotation
speed No. 5
(M code : 10) No. 6 (M code : 20)
Time
Stand still timer
12 Ready ON
(stop time)
Start
OFF ON
positioning
AD3-AD0 5 **
(lNP)
M code (output after FF 10 20

position completion)
䝿 Positioning data are regarded as being executed while timer is measured .

䝿 The default value of the M code is "FF" (changeable into "00" by PA2_43).
(1) When data with a high speed is continued to data with a low speed, speed has
already been reduced to the next speed data at the specified position of the
positioning data.
(2) When data with a low speed is continued to data with a high speed, acceleration
is started from the specified position of the positioning data.
Data continuation is executed in the order of positioning data numbers (addresses).
When the motor is started up at positioning data while data continuation is executed,
the positioning data before the start up are ignored.
(Data continuation is not executed as tracing back positioning data.)
When the motor is started up from No.7 using the following positioning data, the
setting of No.6 is ignored.

No. Command style Step mode Stop position Rotation speed 䟼䟼䟼䟼
6 ABS CO 0.00 0.00
7 ABS CO 5000.00 5000.00
8 ABS CO 5200.00 500.00
9 ABS 5400.00 50.00
12
 Cycle end (CEND)

After the motor has been moved completely by positioning data with cycle end
specified, the cycle end signal assigned to OUT is output.
It is not allowed to specify data continuation and cycle end on a set of positioning
data simultaneously.
Cycle end is used when performing sequential start operation.
Operation by sequential start can be selected by PA2_41: sequential start
selection.
After an address at which you wish to start up is set, if start positioning is turned
on, operation will be started up. When the address is changed to 0 afterward,
positioning operation is automatically continued up to the positioning data on
which cycle end is specified.
No. 6 No. 7
No. 8
Rotation
No. 9
speed
Time
Stand still timer
䟺 Stop time䟻
Ready ON
Start
OFF ON
positioning
AD3-AD0 6 0
(INP)
OFF ON
Cycle end
䝿 Positioning data are regarded as being executed while timer is measured
.
Sample setting of positioning data

No. Command style Step mode Stop position Rotation speed 䟼䟼䟼䟼
6 ABS 500.00 3000.00
7 ABS 1000.00 2000.00
8 ABS 1500.00 1000.00
9 ABS CEND 2000.00 500.00
 M code
12 By specifying an M code on positioning data, it is able to output an arbitrary
numerical value outside while positioning is executed (output at startup) or after
positioning has been complete (output at completion).
12.2.2 Immediate Value Data Specifications

After immediate value data are set by the RS-485 communications, when the start
positioning signal is set, positioning is started according to the setting.
The content of immediate value data is as follows:
Item Setting range Default value

Status (ABS/INC) ABS, INC, and M code enable/disable INC and M code
M code output during positioning/after disable
positioning completion
Position (stop position) -2000000000 to +2000000000 units 0
Speed (rotation speed) 0.01 to max. rotation speed [r/min] 0.01
Acceleration time 0.0 to 99999.9 ms 0.0
follows the acceleration time 1 (PA1_37) or
Deceleration time 0.0 to 99999.9 ms 0.0
follows the deceleration time 1 (PA1_38) or
M code 0 to 0xFF 0xFF(Note 2)
Note 1: If ACC0 (setting 14) is not assigned to the CONT signal, the motor
follows acceleration time 1 (PA1_37) and deceleration time 1 (PA1_38),
respectively.
Note 2: The OUT signals (MD0 to MD7) of the M code follow the selection of output
when PA2_43: output when M code off.
Immediate value data are different from positioning data in the continuing function of
status setting (CO and CEND) and setting of the stand still timer.
For details of each data, refer to sections 12.2.1.1 to 12.2.1.5.
12
12.3 Startup
 Operation with positioning data
It is able to register 15 sets of positioning data in the servo amplifier.
Register the positioning data described in section 12.2.1 from the PC Loader or
keypad, and set address numbers according to the table below:
Positioning is started at the ON edge of the start positioning [START] signal.
Even if homing or position presetting has not been complete, the start positioning
signal is enabled.
Address No. selection table
Sequential start
Address
AD3 AD2 AD1 AD0 selection: Operation mode
No.
PA2_41
0 OFF OFF OFF OFF 0: Disable Address error
1: Enable Sequential startup
2: Homing Homing
3: Immediate Immediate value data operation
value data
operation
1 OFF OFF OFF ON 㸢 Operation with positioning data 1
2 OFF OFF ON OFF 㸢 Operation with positioning data 2
3 OFF OFF ON ON 㸢 Operation with positioning data 3
4 OFF ON OFF OFF 㸢 Operation with positioning data 4
5 OFF ON OFF ON 㸢 Operation with positioning data 5
6 OFF ON ON OFF 㸢 Operation with positioning data 6
7 OFF ON ON ON 㸢 Operation with positioning data 7
8 ON OFF OFF OFF 㸢 Operation with positioning data 8
9 ON OFF OFF ON 㸢 Operation with positioning data 9
10 ON OFF ON OFF 㸢 Operation with positioning data 10
11 ON OFF ON ON 㸢 Operation with positioning data 11
12 12 ON ON OFF OFF 㸢 Operation with positioning data 12

13 ON ON OFF ON 㸢 Operation with positioning data 13
14 ON ON ON OFF 㸢 Operation with positioning data 14
15 ON ON ON ON 㸢 Operation with positioning data 15
 Operation with immediate value data

When immediate value data are directly set by the RS-485 communications, if
the start positioning signal is set, positioning is started according to the setting.
This operation differs from the operation with positioning data in the continuation
function and setup of the stand still timer.
For the continuation function, a similar function can be realized by assigning the
immediate value continuation to the CONT signal.
In addition, if you wish to change data immediately during operation, the function
of the immediate value change is usable.
For the function of the stand still timer, adjust timing using the host controller.
For details, refer to “CHAPTER 13 RS-485 COMMUNICATIONS”.
 Stop method
The servo motor is decelerated before the specified position set by positioning
data, and stopped automatically at that position.
The method for stopping the motor forcibly after moving has started is as follows:
• Turn off the operation command [RUN].
• Turn off the forced stop [EMG].
• Turn on the positioning cancel.
• Turn off the external error input.
• Turn on the pause (By turning it off, the remaining operation is executed).
• Turn on free run.
After the motor has started moving, if one of the signals below is detected, the
specified position of positioning data might not be reached.
• Software OT (overtravel), +OT, and -OT signals
• Limiter detection
12
12.4 Setting Change

The setting of positioning data can be edited by the following method.
• Edit on the keypad of the servo amplifier

• Edit using the PC loader
• Edit using the Servo Operator
• Change positioning data by the teaching signal assigned to control
• Edit positioning data using the RS-485 communications
Editing positioning data by the PC Loader or keypad can be restricted by setting

PA2_75: positioning data write protection.
Editing can be limited by the external control input signal using the editing
permission signal assigned to the CONT signal.
After positioning data are set, if PA2_01: decimal point position of positioning data
is changed, the setting might be increased (or decreased). The significant figure 10
digits long is not changed.
12.5 Response Time

The response time of start positioning (operation according to positioning data) is as
follows:
 Starting up by the CONT signal

Start positioning [START] terminal sampling time Approx. 1.0 ms
Automatic startup software processing time Approx. 0.5 ms
Total Approx. 1.5 ms
12
RS-485 Communications 433
13
13.1 Modbus RTU
Communications
13.1.1 Settings for Servo Amplifier
Set up the parameters of the servo amplifier (hereinafter called amplifier) to perform
the Modbus communications.
(1) Protocol selection
No. Parameter name Setting range Default value Change

PA2_97 Communication 0: PC Loader protocol 0 Power
protocol selection 1: Modbus RTU
Set to 1 (Modbus RTU).

Since this parameter is set to 0 (PC Loader protocol) at factory shipment, be sure to
change it to 1.
(2) Station number/communication baud rate

PA2_72 Station number 1 to 31 1 Power
PA2_73 Communication 0㹺㹺㹺 38400 [bps] 0 Power
baud rate 1㹺㹺㹺 19200 [bps]
2㹺㹺㹺 9600 [bps]
3㹺㹺㹺115200 [bps]
Set an amplifier’s station number (slave’s station number) and a communication

baud rate.
434 RS-485 Communications
(3) Character configuration

PA2_93 Selection of 0: Even parity with 1 stop bit 0 Power
parity/stop bit 1: Odd parity with 1 stop bit
2: No parity with 1 stop bit
3: Even parity with 2 stop bits
4: Odd parity with 2 stop bits
5: No parity with 2 stop bits
Set existence and logic of a parity and a stop bit length.

Characters are organized for each setting as follows:
LSB MSB
PA2_93
0 1 2 3 4 5 6 7 8 9 10 11
0, 1 Start Data (8 bits) Parity Stop
2 Start Data (8 bits) Stop
3, 4 Start Data (8 bits) Parity Stop (2 bits)
5 Start Data (8 bits) Stop (2 bits)
(4) Response time and communication time over

Default
No. Parameter name Setting range Change
value
PA2_94 Response time 0.00 to 1.00 [s] (*) 0.00 Always
PA2_95 Communication 0.00 [s]: No detection 0.00 Always
time over 0.01 to 9.99 [s]
(*) Actual response time is set to PA2_94 setting or {time for 3 characters + amplifier’s processing time},
whichever is longer.
13 Set the response time and communication time over parameters if needed.
For details, refer to pages 13-34 (response time) and 13-35 (communication time over).
13.1.2 Communication Specifications

Item Specifications Remarks (PA is a parameter No.)
Electric I/F RS-485
Communication 38400㸤19200㸤9600㸤115200 bps Set by parameter PA2_73
speed
Synchronization Asynchronous (UART)
method
Communication Semi-duplex communication
method
Communication
Transmission format Master-slave (servo amplifier) = 1:N Max. 31 units connected

(1≤N≤31) simultaneously
Connection cable LAN cable (straight) or equivalent
Cable length Entire extended length:

100 m or less (up to 38400 bps)
(recommneded) 40 m or less (115200 bps)
Length between stations:
20 m or less
Terminator treatment Master side :100 Ω

recommended
Slave side : Unnecessary
Character Start bit : 1 bit Set by parameter PA2_93

Data length : 8 bits
configuration Parity : Even/Odd/None
Stop bit : 1 or 2 bits
Communications Compliant with Modbus RTU protocol
protocol
Communications RTU mode The ASCII mode is not
mode supported.
Station number 0: Broadcast Set by parameter PA2_72
1-31: Slave station No.
Function code (FC) 1(01h): Read out coil data Responses other than those in
3(03h): Read out various data the left cell are exceptional
Protocol
5(05h): Write in single coil data responses (improper FC).

8(08h): Maintenance (echo back)
15(0Fh): Write in coil data
16(10h): Write in various data
23(17h): Read out/write in various data
Error check method CRC-16 method
Message length Variable length Max. 200 bytes 13
Frame Timing synchronization Frames are initialized if time
synchronization data for three characters are
method absent.
It is recommended to use the RS-232C - RS-422 converter (model: NW0H-CNV) for

the use of 1:1 communications between the master and the slave (servo amplifier).
Do not use it for multiple unit connection.
13.1.3 Transmission Protocol

1. Message types
Communications are configured as the single master and multiple slaves method.
The amplifier operates as a slave.
The messages sent/received between the master and amplifier are classified into
the two types below:
• Query: Messages transferred from the master to the amplifier

• Response message: Messages transferred from the amplifier to the master
Communications are started by a query from the master. Communications are not
performed between the amplifiers.
2. Message fields
The message frame is as follows for both the query from the master and the
response message from the amplifier.
࣬0: Broadcast query to all amplifiers.

(No response message is issued.)
Station No. 1 byte ࣬1-31: Query for each station number.
Self station numbers 1-31 are responded in the response
messages from the amplifiers.
࣬Master: Specify an FC according to the processing that you
wish to execute.
࣬Amplifier: Returns the specified FC.
FC (function code) 1 byte
(If the amplifier has not finished processing successfully,
the message is returned with the MSB of the FC set to 1.)
...Exceptional response
࣬Query/response message: Data are set according to the FC.
Information Variable length ࣬An exceptional code (1 byte) is returned in the exceptional
response from the amplifier.
࣬Query/response message: CRC-16 is added to the bottom
of the frame.
(L)
࣬The sender calculates CRC-16 for the data sent, add it to the
16 bits bottom of the frame, and send the frame.
CRC check
(2 bytes) ࣬The receiver calculates CRC-16 of the received data. If the
13 calculation results are not equal to the received CRC-16,
(H)
an error occurs.
If an error is detected, no response message is returned.
3. Function codes (FC)

The six types of FC below are supported:
Category FC Function Broadcasting

Data manipulation 03h (3) Read out various data Disabled
10h (16) Write in various data Enabled
17h (23) Read out/write in various data Enabled*
Coil data manipulation 01h (1) Read out coil data Disabled
05h (5) Write in single coil data Enabled
0Fh (15) Write in coil data Enabled
Maintenance 08h (8) Echo back Disabled
*Queries from master are accepted, and response messages are not returned.
 FC 03h (Readout of various data)

(1) Query from the master
Station No. 1 byte
FC 1 byte 㹺㹺㹺 03h
(H) 㹺㹺㹺 Specify the data address.
Address 2 bytes
(L) * For the addresses, refer to the table 13-1.
Information
(H) 㹺㹺㹺 Specify the number of sets of data n × 2.
No. of registers 2 bytes
(L) * Specify n × 10 on the positioning data.
16 bits (L) * The max number of positioning data is
CRC check (2 9, and 45 for others.
(H)
bytes)
(2) Response message from the amplifier

Station No. 1 byte
No. of data 㹺㹺㹺 n × 4
1 byte * The positioning data are n × 20.
bytes
(HH) 㹺㹺㹺 Readout data for n sets from the specified
(HL) address
Data 1 4 bytes
(LH) * The positioning data are 20 bytes per
Information (LL) data.
~ ~ * For the data format, refer to page 13-14
(HH) [Table 13-1].
(HL) * "0" is returned to nonexistent data.
Data n 4 bytes
(LH)
13
(LL)
16 bits (L)
CRC check (2
(H)
bytes)
(3) Message examples

Monitor data: shows a message example to read out a feedback position.
<Query example>
Station No. 1 byte 01 㹺㹺㹺 When the amplifier station no. is "1".
FC 1 byte 03
10 㹺㹺㹺 Specify 1006h as the address of a
Address 2 bytes
06 feedback position.
Information
00 㹺㹺㹺 Specify 0002h as the number of data 1×2.
02
16 bits 20
CRC check
(2 bytes) CA
<Response message example>
Station No. 1 byte 01

FC 1 byte 03
No. of data bytes 1 byte 04 㹺㹺㹺 1×4 = 04h
00 㹺㹺㹺 000186A0h = 100000 units
Information 01
Data 1 4 bytes Data 1 will be FFFE7960h with -100000
86
units.
A0
16 bits C9
CRC check
(2 bytes) EB
 FC 10h (Write of various data)

Station No. 1 byte
Address 2 bytes * For the addresses, refer to the table
(L) 13-1.
(H) 㹺㹺㹺 Specify the number of sets of data n × 2.

No. of * Specify n × 10 on the positioning data.
2 bytes * The max number of parameters and
registers
(L) positioning data is 9, and 45 for others.
No. of 㹺㹺㹺 n×4

Information 1 byte * The positioning data are n × 20.
data bytes
(HH) 㹺㹺㹺 Write data for n sets from the specified
(HL) address
Data 1 4 bytes * The positioning data are 20 bytes per
(LH)
13
data.
(LL) * For the data format, refer to the table
~ ~ 13-1.
(HH)
(HL)
Data n 4 bytes
(LH)
(LL)
16 bits (L)
CRC check
(2 bytes) (H)
Station No. 1 byte
(H) 㹺㹺㹺 Specified address

Address 2 bytes
(L)
Information
No. of (H) 㹺㹺㹺 Number of sets of actually written data, m × 2
2 bytes * The positioning data are m × 10.
registers (L) * Cannot write in to nonexistent data.
16 bits (L)
CRC check
(2 bytes) (H)

PA2_19: shows a message example to enter 200000 to a preset position.
<Query example>
FC 1 byte 10
41 㹺㹺㹺 Specify 4112h as the address of PA2_19.
Address 2 bytes
12
00 㹺㹺㹺 Specify 0002h as the number of data 1×2.
02
No. of data
1 byte
㹺㹺㹺 1×4 = 04h
Information 04
bytes
00 㹺㹺㹺 Specify 200000 = 00030D40h.
03
Data 1 4 bytes Specify data 1 = FFFCF2C0h for -20000.
0D
40
16 bits BA
CRC check
(2 bytes) 49

FC 1 byte 10
41
Address 2 bytes
12
Information
00
02
16 bits F5
CRC check
(2 bytes) F1
13
 FC 01h (Read out coil data)

Station No. 1 byte
(H) 㹺㹺㹺 Specify the coil address.
Address 2 bytes * For the addresses, refer to the table 13-4.
(L)
Information
(H) 㹺㹺㹺 Specify the number of coils n.
No. of coil data 2 bytes * Up to 16 pcs.
(L)
16 bits (L)
CRC check
(2 bytes) (H)
(2) Response message form the amplifier
Station No. 1 byte

No. of data bytes 1 byte 㹺㹺㹺 The value (N) obtained from n/8 and by
rounding up decimal
Data 1 1 byte (8 bits) 㹺㹺㹺 n pcs data read out from a specified address.
Information * 1 pcs = 1 bit (1 byte by 8 pcs)
~ ~ * Allocated from LSB in order.
Data N 1 byte (8 bits)

16 bits (L)
CRC check
(2 bytes) (H)

Shows a message example to read out ten pieces of coil data from OUT6 signal.
<Query example>
FC 1 byte 01
03 㹺㹺㹺 Specify 0305h as the OUT6 signal address.
Address 2 bytes
05
Information
00 㹺㹺㹺 Specify 10 = 000Ah as the number of coils.
No. of coil data 2 bytes
0A
16 bits AC
CRC check
(2 bytes) 48

FC 1 byte 01
No. of data bytes 1 byte 02 㹺㹺㹺 The value obtained from 10 pcs/8 and by
rounding up decimal
㹺㹺㹺 See below.
13
Information Data 1 1 byte A5
Data 2 1 byte 02
16 bits 43
CRC check
(2 bytes) 6D
Data are allocated from LSB in order starting from the smaller address.
The corresponding bit indicates ON with “1” and OFF with “0”. The rest of bits are all
fixed to “0.”
OUT13 OUT12 OUT11 OUT10 OUT9 OUT8 OUT7 OUT6

Data1 (=A5h)
1 (ON) 0 (OFF) 1 (ON) 0 (OFF) 0 (OFF) 1 (ON) 0 (OFF) 1 (ON)
OUT15 OUT14
Data2 (=02h) 0 0 0 0 0 0
1 (ON) 0 (OFF)
 FC 05h (Write in single coil data)

Station No. 1 byte
(L)
Information
(H) 㹺㹺㹺 Specify 000h for OFF and FF00h for ON.
Coil data 2 bytes
(L)
16 bits (L)
CRC check
(2 bytes) (H)
(2) Response message form the amplifier

Station No. 1 byte
(H) 㹺㹺㹺 Specified address.
Address 2 bytes
(L)
Information
(H) 㹺㹺㹺 Specified data.
Coil data 2 bytes
(L)
16 bits (L)
CRC check
(2 bytes) (H)

Shows a message example to write in ON to OUT9 signal.
<Query example>
FC 1 byte 05
02 㹺㹺㹺 Specify 0208h as the CONT9 signal address.
Address 2 bytes
08
Information
FF 㹺㹺㹺 Specify ON = FF00h.
00
16 bits 0C
CRC check
(2 bytes) 40
Station No.
FC
1 byte
1 byte
01
05
13
02
Address 2 bytes
08
Information
FF
00
16 bits 0C
CRC check
(2 bytes) 40
 FC 0Fh (Write in coil data)

Station No. 1 byte

FC 1 byte 㹺㹺㹺 0Fh
(L)
(H) 㹺㹺㹺 Specify the number of coils n.
No. of coil data 2 bytes * Up to 16 pcs.
(L)
1 byte 㹺㹺㹺 The value (N) obtained from n/8 and by
Information No. of data bytes rounding up decimal
Data 1 1 byte (8 bits) 㹺㹺㹺 n pcs of data read out from a specified address.
* 1 pcs = 1 bit (1 byte by 8 pcs)
~ ~ * Allocated from LSB in order.
Data N 1 byte (8 bits)

16 bits (L)
CRC check
(2 bytes) (H)

Station No. 1 byte
(H) 㹺㹺㹺 Specified address.
Address 2 bytes
(L)
Information
(H) 㹺㹺㹺 The number of coils actually written in is m pcs.
No. of coil data 2 bytes * Cannot write in to nonexistent coil data.
(L)
16 bits (L)
CRC check
(2 bytes) (H)

Shows a message example to write in three pieces of coil data from CONT22 signal.
<Query example>
FC 1 byte 0F 㹺㹺㹺 0Fh
02 㹺㹺㹺 Specify 0215h as the CONT22 signal address.
Address 2 bytes
15
00 㹺㹺㹺 Specify 3 = 0003h as the number of coils.
Information 03
No. of data bytes 1 byte 01 㹺㹺㹺 The value obtained from 3 pcs/8 and by rounding
up decimal
Data 1 1 byte 06 㹺㹺㹺 See below.
16 bits 03
CRC check
13 (2 bytes) 74
Data are allocated from LSB in order starting from the smaller address.
The corresponding bit indicates ON with “1” and OFF with “0”. The rest of bits are all
fixed to “0.”
CONT24 CONT23 CONT22
Data1 (=06h) 0 0 0 0 0
1 (ON) 1 (ON) 0 (OFF)

FC 1 byte 0F
02
Address 2 bytes
15
Information
00
03
16 bits 05
CRC check
(2 bytes) B6
 FC 17h (Read out/write in various data)

Only addresses 6000H to 600FH are applicable.
An exception response (exception code: 02H) is returned if an address outside this
range is specified.
Station No. 1 byte
(H) 㹺㹺㹺 Specifies the data address.
Read out start
2 bytes * Addresses from 6000H to 600FH can be
address (L)
set.
(H) 㹺㹺㹺 Specify the number of sets of data n x 2.
No. of registers 2 bytes * Up to setting range 1 to 16 for number of
(L)
sets of data n
Write in start
2 byte * Addresses from 6000H to 6007H can be set.
address (L)
(H) 㹺㹺㹺 Specify the number of sets of data n x 2.
No. of registers 2 byte * Up to setting range 1 to 8 for number of
Information (L) sets of data n
No. of data bytes 1 byte 㹺㹺㹺 n x 4
(HH) 㹺㹺㹺 Write in data for n sets from the specified
(HL) address
Data 1 4 bytes
(LH) * For the data format, refer to the format field
(LL) (symbol) in table 4-1.
~ ~
(HH)
(HL)
Data n 4 bytes
(LH)
(LL)
16 bits (L)
CRC check
(2 bytes) (H)
13
(2) Response message from slave

Station No. 1 byte
No. of data bytes 1 byte 㹺㹺㹺 n x 4
(HH) 㹺㹺㹺 Read out data for n sets from the specified
(HL) Address
Data 1 4 bytes ** Data read out range: 1 to 16
(LH)
(LL)
Information
~ ~
(HH)
(HL)
Data n 4 bytes
(LH)
(LL)
16 bits (L)
CRC check
(2 bytes) (H)

Shows a message example to write in immediate speed, immediate acceleration
time and communication CONT signal, and read out feedback speed, effective
torque, and motor current. The write in start address is 6000H, and the read out start
address is 6008H.
First, set parameter Nos. for the free assignment of addresses for parameters
PA3_41 to PA3_44.
After setting, reboot to enable the settings.
PA3_41: 007993292
PA3_42: 00000000 (default)
PA3_43: 00040500
PA3_44: Set 00000000 (default)
13
<Query example>
Station No. 1 byte 01 ࣬ When the amplifier station no. is "1".
FC 1 byte 17
Read out start 60 㹺㹺㹺Specify the read out first address.
2 bytes
address 08
00 㹺㹺㹺Specify 0006h as the number of data 3×2.
06
Write in start 60 㹺㹺㹺Specify the write in first address.
2 bytes
address 00
00 㹺㹺㹺Specify 0006h as the number of data 3×2.
06
No. of data bytes 1 byte 0C 㹺㹺㹺Specify 3×4 = 0Ch.
00 㹺㹺㹺Specify immediate speed: 186A0h (1000
Information 01 r/min).
Data 1 4 byte
86
A0
00 㹺㹺㹺Specify immediate acceleration time: 3E8h
00 (100 ms).
Data 2 4 byte
03
E8
00 㹺㹺㹺Specify communication CONT signal: servo
00 ON and FWD.
Data 3 4 byte
00
03
16 bits CC
CRC check
(2 bytes) 17
Station No. 1byte 01

FC 1byte 17
No. of data bytes 1byte 0C
00 㹺㹺㹺Feedback speed: 1000 [r/min] (3E8h)
00
Data 1 4byte
03
E8
00 㹺㹺㹺Effective torque: 80 [%] (50h)
Information 00
Data 2 4byte
00
50
00 㹺㹺㹺Motor current: 80 [%] (50h)
00
Data 3 4byte
00
50
CRC check
16 bits 19 13
(2 bytes) 5F
 FC 08h (Echo back maintenance)

Station No. 1 byte

(H) 㹺㹺㹺 Specify 0000h as the sub code of echo back.
Sub code 2 bytes
(L)
Information
(H) 㹺㹺㹺 Specify an arbitrary data.
Data 2 bytes
(L)
16 bits (L)
CRC check
(2 bytes) (H)
Station No. 1 byte

(H) 㹺㹺㹺 0000h
Sub code 2 bytes
(L)
Information
(H) 㹺㹺㹺 Echo back the specified data.
Data 2 bytes
(L)
16 bits (L)
CRC check
(2 bytes) (H)
13
4. Addresses
The addresses of various data are as follows:
 Data addresses
[Table 13-1] Fixed data address list
Applicable
Address Format Setting range
Data type Data name FC
(hex.) (with a sign) (default value)
03h 10h
Communic- Communication
0000 Refer to [5-1] 0-FFFFh (0: OFF all)
ation CONT signal
CONT/OUT Communication
0100 Refer to [5-1] 㸢
signals OUT signal
Feedback speed 1000 1h=1 r/min (Yes) 㸢
Command speed 1001 1h=1 r/min (Yes) 㸢
Command torque 1002 1h=1% (Yes) 㸢
Peak current 1003 1h=1% (Yes) 㸢
Motor current 1004 1h=1% (Yes) 㸢
Effective torque 1005 1h=1% (No) 㸢
Feedback position 1006 1h=1 unit (Yes) 㸢
Command position 1007 1h=1 unit (Yes) 㸢
Position deviation 1008 1h=1 (*1) (Yes) 㸢
Command pulse
1009 1h=0.1 kHz (No) 㸢
frequency
Monitor
Feedback
100A 1h=1 pulse (Yes) 㸢
cumulative pulses
Cumulative input
100B 1h=1 pulse (Yes) 㸢
pulses
LS-Z pulse 100C 1h=1 pulse (No) 㸢
Load inertia ratio 100D 1h=0.1 times (No) 㸢
DC link voltage (max.) 100E 1h=1 V (No) 㸢
DC link voltage (min.) 100F 1h=1 V (No) 㸢
VREF input voltage 1010 1h=0.01 V (Yes) 㸢
TREF input voltage 1011 1h=0.01 V (Yes) 㸢
OL thermal value 1012 1h=1% (No) 㸢 13

Applicable
03h 10h
Regenerative resistor
1013 1h=1% (No) 㸢
thermal value
Power (W) 1014 1h=1% (Yes) 㸢
Motor temperature 1015 1h=1°C (No) 㸢
Overshoot unit
1016 1h=1 (*1) (Yes) 㸢
Monitor amount
Settling time 1017 1h=0.1 ms (No) 㸢
Resonance frequency
1018 1h=1 Hz (No) 㸢
1
Resonance frequency
1019 1h=1 Hz (No) 㸢
2
Hardware CONT
2000 Refer to [5-1] 㸢
signal
Hardware OUT
2001 Refer to [5-1] 㸢
Sequence signal
monitor Control mode 2100 Refer to [5-1] 㸢
Sequence mode 2101 Refer to [5-1] 㸢
Alarm at present 2200
Refer to [5-2] 㸢
Alarm history 1-20 2201-2214
0.0, 1.0-300.0
Anti resonance (0.0: The vibration
3002 1h=0.1 Hz (No)
Various frequency suppressing control
commands function is disabled.)
Workpiece inertia
3003 1h=1% (No) 0-80 (0)
ratio
PA1_1-99 4000-4062
The parameter is The parameter is
Parameter PA2_1-99 4100-4162
followed. followed.
PA3_1-99 4200-4262
Immediate value
5100 Refer to [5-3] 㸢
status
Immediate value
5101 1h=1 unit (Yes) 0-±2000000000 (0)
position
Immediate Immediate value 0.01-Max. rotation
5102 1h=0.01 r/min (No)
value data speed speed (0.01)
Immediate value
5103 1h=0.1 ms (No) 0.0-99999.9 (0.0)
acceleration time
13 Immediate value
5104 1h=0.1 ms (No) 0.0-99999.9 (0.0)
deceleration time
Applicable
03h 10h
Positioning
Positioning status
5200 status: Refer to (No) M code: 0-FFh (FFh)
+ M code
[Table 5-5].
Stop timer 5201 1h=0.01sec *2 (No) 0.00-655.35 (0.00)

Data
Stop position 5202 1h=1 unit (Yes) 0-±2000000000 (0)
1
0.01-Max. rotation speed
Rotation speed 5203 1h=0.01 r/min (No)
(0.01)
Acceleration time 5204
1h=0.1 ms (No) 0.0-99999.9 (0.0)
Deceleration time 5205
࣬ ࣬ ࣬ ࣬ ࣬
Positioning
࣬ ࣬ ࣬ ࣬ ࣬
data (divided) ࣬ ࣬ ࣬ ࣬ ࣬
Positioning
Positioning status
52E0 status: Refer to (Yes) M code: 0-FFh (FFh)
+ M code
[Table 5-5].
Stop timer 52E1 1h=0.01sec *2 (No) 0.00-655.35 (0.00)

Data
15 Stop position 52E2 1h=1 unit (Yes) 0-±2000000000 (0)
0.01-Max. rotation speed

Rotation speed 52E3 1h=0.01 r/min (No)
(0.01)
Acceleration time 52E4
1h=0.1 ms (No) 0.0-99999.9 (0.0)
Deceleration time 52E5
Positioning
D000-
data Positioning data 1-15 Refer to [5-4]. 㸢
D00E
(Batch)
(*1) By setting PA1_31 (selection of deviation unit), 0 and 1 are defined as unit amount and pulse,
respectively.
(*2) By setting PA2_42 (stop timer decimal position), 0 represents 0.01 sec, and 1 represents 0.001 sec.
13
[Table 13-2] Free data address list

Data type Data name Applicable FC
6000-
PA3_41 assignment
6003
6004- 03h, 10h
Free PA3_42 assignment Based on assigned Based on assigned
6007
assignment 17h
6008- parameters (*) parameters (*)
data PA3_43 assignment
600B (*)
600C-
PA3_44 assignment
600F
(*) Refer to the “Table 13-3 Assigned parameter list” for details.
Refer to Chapter 4 for details on settings PA3_41 to 44.
13
[Table 13-3] Assigned parameter list ○ Supported X: Not supported

Assigned FC㸯17H
FC㸯03H FC㸯10H
Data type parameter Name
Read Write 㸝Read㸞㸝Write㸞
No.
Communication 79 Communication CONT ƻ ƻ ƻ ƻ
CONT/OUT signal
signals 39 Communication OUT ƻ h ƻ h
signal
Monitor 00 Feedback speed ƻ h ƻ h
01 Command speed ƻ h ƻ h
02 Command torque ƻ h ƻ h
03 Peak current ƻ h ƻ h
04 Motor current ƻ h ƻ h
05 Effective torque ƻ h ƻ h
06 Feedback position ƻ h ƻ h
07 Command position ƻ h ƻ h
08 Position deviation ƻ h ƻ h
09 Command pulse ƻ h ƻ h
frequency
10 Feedback cumulative ƻ h ƻ h
pulses
11 Cumulative input pulses ƻ h ƻ h
12 LS-Z pulse ƻ h ƻ h
13 Load inertia ratio ƻ h ƻ h
14 DC link voltage (max.) ƻ h ƻ h
15 DC link voltage (min.) ƻ h ƻ h
16 VREF input voltage ƻ h ƻ h
17 TREF input voltage ƻ h ƻ h
18 OL thermal value ƻ h ƻ h
19 Regenerative resistor ƻ h ƻ h
thermal value
20 Power (W) ƻ h ƻ h 13
21 Motor temperature ƻ h ƻ h
22 Overshoot unit ƻ h ƻ h
amount
23 Settling time ƻ h ƻ h
24 Resonance frequency 1 ƻ h ƻ h
Assigned FC㸯17H
FC㸯03H FC㸯10H
Data type parameter Name
Read Write 㸝Read㸞㸝Write㸞
No.
Monitor 25 Resonance frequency 2 ƻ h ƻ h
Sequence 40 Hardware CONT ƻ h ƻ h
monitor signal
41 Hardware OUT ƻ h ƻ h
signal
42 Control mode ƻ h ƻ h
43 Sequence mode ƻ h ƻ h
50 Alarm at present ƻ h ƻ h
51-70 Alarm history 1-20 ƻ h ƻ h
Various 82 Anti resonance ƻ ƻ ƻ ƻ
commands frequency
83 Workpiece inertia ƻ ƻ ƻ ƻ
ratio
Immediate 90 Immediate value ƻ ƻ ƻ ƻ
value data status
91 Immediate value ƻ ƻ ƻ ƻ
position
speed
acceleration time
deceleration time
13
Coil addresses
[Table 13-4] Coil address list
Address Applicable FC
Coil type Coil name
(hex.) 01h 05h 0Fh
CONT9 signal 0208
CONT10 signal 0209
CONT11 signal 020A
CONT12 signal 020B
CONT13 signal 020C
CONT14 signal 020D
CONT15 signal 020E
Communication CONT CONT16 signal 020F
‫ې‬ ‫ې‬ ‫ې‬
signal CONT17 signal 0210
CONT18 signal 0211
CONT19 signal 0212
CONT20 signal 0213
CONT21 signal 0214
CONT22 signal 0215
CONT23 signal 0216
CONT24 signal 0217
OUT6 signal 0305
OUT7 signal 0306
OUT8 signal 0307
OUT9 signal 0308
OUT10 signal 0309
OUT11 signal 030A
OUT12 signal 030B
Communication OUT OUT13 signal 030C
‫ې‬
signal OUT14 signal 030D
OUT15 signal 030E
OUT16 signal 030F
OUT17 signal 0310
OUT18 signal 0311
OUT19 signal 0312
OUT20 signal 0313
OUT21 signal 0314
CONT1 signal 0400
CONT2 signal 0401
Hardware CONT signal CONT3 signal 0402 ‫ې‬ 13
CONT4 signal 0403
CONT5 signal 0404
OUT1 signal 0500
Hardware OUT signal OUT2 signal 0501 ‫ې‬
OUT3 signal 0502
 Communication CONT/OUT signal

The CONT/OUT signal is divided into two types: the hardware signal (sequence I/O
terminal) and the communications signal (Modbus communications) depending on
the I/O form as shown in the table below. For the hardware CONT/OUT signals, refer
to the page of the sequence monitor.
Communications
Hardware signal
signal
CONT signal CONT1-5 (5 bits) CONT9-24 (16 bits)
OUT signal OUT1-3 (3 bits) OUT6-21 (16 bits)
It is possible to write and read the CONT signals via RS-485 communications. In
reading and writing, the same type of signals (5 to 16 bits) are handled in a batch
data.
The following shows the signal arrangement in the data. The signal turns on with the
corresponding bit “1” and off with bit “0”.
a) Communication CONT signal (CONT9 - 24)
00h
00h
Data 4bytes
CONT24 CONT23CONT22CONT21CONT20CONT19CONT18 CONT17
CONT16 CONT15CONT14CONT13CONT12CONT11CONT10 CONT9
b) Communication OUT signal (OUT6 - 21)
00h
00h
Data 4bytes
Relation with coil data manipulation

Manipulating CONT/OUT signals can be performed in the following two ways: a
batch data operation (FC 03h, and 10h) by specifying data addresses and individual
operation per bit (FC 01h, 05h, and 0Fh) by specifying each coil address. Among
these, the signal statuses will follow the latest manipulation regardless of method of
13 batch data operation or coil address specification for communication CONT signals 9
to 24 to which data can be written (FC 05h, 0Fh, and 10h).
 Sequence monitor
(1) Hardware CONT signal and hardware OUT signal
The CONT signal and the OUT signal of sequence I/O can be loaded.
a) Hardware CONT signal (CONT1 - 5)
00h
00h
Data 4bytes
00h
0 0 0 CONT5 CONT4 CONT3 CONT2 CONT1
b) Hardware OUT signal (OUT1 - 3)
00h
00h
Data 4bytes
00h
0 0 0 0 0 OUT3 OUT2 OUT1
(2) Control mode, Sequence mode, Alarm at present, Alarm history
Each piece of data in the control mode, sequence mode, alarm at present, and
alarm history is the code data of 1 byte.
00h
00h
DATA 4bytes
00h
Code
The content of the code varies depending on the data. For the detail, refer to the
corresponding tables below.
Control mode Sequence mode

Code Control mode Code Sequence mode
00h Position control 00h Servo off
01h Speed control 01h Servo on
02h Torque control 02h Zero speed stop
03h Manual feed (JOG)
04h Pulse operation
05h 㸠OT 13
06h 㸢OT
07h In LV (under voltage)
08h Positioning
09h Homing
0Ah Interrupt positioning
Alarms at present and alarm histories
Symbol
Code Alarm Symbol (*) Code Alarm
(*)
00h None ---
01h Overcurrent 1 oc 1 21h Main Power Undervoltage L vP
Internal Breaking
02h Overcurrent 2 oc 2 22h rH 1
Resistor Overheat
External Breaking
03h Overspeed oS 23h rH 2
Resistor Overheat
04h 㸢㸢 24h Breaking Transistor Error rH 3
05h Overvoltage Hv 25h Deviation Overflow oF
06h Encoder Trouble 1 Et1 26h Amplifier Overheat AH
07h Encoder Trouble 2 Et2 27h Encoder Overheat EH
08h Circuit Trouble ct 28h Absolute Data Lost 1 d L1
09h Memory Error dE 29h Absolute Data Lost 2 d L2
0Ah Fuse Blown Fb 2Ah Absolute Data Lost 3 d L3
Motor Combination
0Bh cE 2Bh Multi-turn Data Over Flow AF
Error
Breaking Transistor
0Ch tH 2Ch Initial Error iE
Overheat
Encoder
0Dh Ec 2Dh 㸢㸢
Communication Error
CONT (Control signal)
0Eh c tE
Error
0Fh Overload 1 o L1
10h Overload 2 o L2 (*) Displayed on the amplifier.
Inrush Current
11h Suppression Circuit rH 4
Trouble
13
 Immediate value data

The immediate value status of immediate data is configured as follows:
Configuration Format (default value)
Immediate value status 1 byte Refer to [Table 13-5].
Data 4 bytes Immediate value M code 1 byte 0-FFh (FFh)
Not used 2 bytes 00h fixed
[Table 13-5] Immediate value status

Bit Item Description Default value
5 M code output timing 0: Output during 1: Output after positioning 0
start up completion
4 M code selection 0: Disable 1: Enable 0
0 Command method 0: ABS 1: INC 1
Others Not used 0 fixed 0
 Positioning data(batch)
Positioning data are 20 bytes long for each set, organized as follows:
Configuration Format, setting range (default value)
Positioning status 1 byte Refer to [Table 13-6].
M code 1 byte 0-FFh (FFh)
Stop timer 2 bytes (H) 1h = 0.01 ms (*)
(L) 0.00-655.35 (0.00)
Stop position 4 bytes (HH) 1h = 1 unit
(HL) 0 - ±2000000000 (0)
(LH)
(LL)
Rotation speed 4 bytes (HH) 1h = 0.01 r/min
20 (HL) 0.01 - Max. rotation speed (0.01)
Data
bytes (LH)
(LL)
Acceleration time 4 bytes (HH) 1h = 0.1 ms
(HL) 0.0 - 99999.9 (0.0)
(LH)
(LL)
Deceleration time 4 bytes (HH)
(HL)
(LH)
(LL)
(*) By setting PA2_42 (stop timer decimal point position), 0 and 1 indicate 0.01 ms
and 0.001 ms, respectively.
[Table 13-6] Positioning status

Bit Item Description Default value
5 M code output timing 0: Output during 1: Output after 0
13
startup positioning completion
4 M code 0: Disable 1: Enable 0
Selection
2,1 Step mode 0,0: No specification 0,0
0,1: Data continuation (CO)
1,0: Cycle end (CEND)
1,1: Setup impossible
0 Command method 0: ABS 1: INC 1
Others Not used fixed to 0 0
 Positioning data (divided)

Positioning data are 4 bytes long for each set. The positioning status, M code,
and the stop timer are configured as follows. All other items are configured in the
same way as positioning data (batch).
00h
00h
DATA 4bytes
Positioning status
M code
00h
00h
DATA 4bytes
Stop timer (H)
Stop timer (L)
5. Exceptional responses
The amplifier returns an exceptional response if it has not succeed the process
specified by a query.
The message frame is as follows. This is common to all FC values.
Station No. 1 byte
FC 1 byte
Exceptional
1 byte
code
16 bits (L)
CRC check
(2 bytes) (H)
(1) Function code (FC) field

Exceptional responses from slaves are returned as one is set on the MSB of the FC
specified by the query.
Query Exceptional response

01h 81h
03h 83h
05h 85h
08h 88h
0Fh 8Fh
10h 90h
17h 97h
13
(2) Exceptional code field

Exceptional responses from slaves are returned as exceptional response which
indicates exceptional content with the query.
Exceptional
Description and sample queries
code
Incorrect FC (An incorrect FC is specified.)

01h
࣬An FC other than 01h, 03h, 05h, 08h, 0Fh, and 10h, which are supported, is specified.
Incorrect address (An incorrect address is specified)

When FC 03h or 10h is specified
࣬An address not listed in [Table 13-1] data addresses list is specified.
࣬The address that is listed only for FC 03h in [Table 13-1] is specified for FC 10h.
When FC 01h, 05h or 0Fh is specified
࣬An address not listed in [Table 13-4] coil data addresses list is specified.
02h ࣬The address that is listed only for FC 01h in [Table 13-4] is specified for FC 05h or 0Fh.
When FC 17h is specified
y The write data specified address is other than 6000h to 6007h,
and the read data specified address is other than 6000h to 600Fh.
When corresponding address in 6000s is specified with FC 03h or 10h
y The read data address specified with FC 03h is other than 6000h to 600Fh.
y The write data address specified with FC 10h is other than 6000h to 6007h.
Incorrect data (An abnormal value is specified in the information field.)

When FC 03h or 10h is specified
࣬The following value is specified as the no. of registers: zero, odd number, or a value
exceeding the maximum value.
࣬A value different from the no. of registers is specified to the no. of data bytes.
࣬A value out of range is specified to a write data.
When FC 01h, 05h or 0Fh is specified
࣬The following value is specified as the no. of coil data: zero, or a value exceeding the
maximum value.
03h ࣬A value different from the no. of coil data is specified to the no. of data bytes.
࣬A value not specified as ON/OFF values is specified to a coil data in FC 05h.
When address in 6000s is specified with FC 17h
y The number of registers is 0 or an odd number, or a value that exceeds the maximum
13
value is specified.
y The value specified for the number of data bytes is in disagreement with the number of
registers.
y A value outside the following ranges is specified for read and write data.
㹺 The number of read data items exceeds 16.
㹺 The number of write data items exceeds 8.
6. CRC-16
(1) Outline of CRC
CRC (Cyclic Redundancy Check) is a system to check if communications data
are correct.
In the CRC calculation, data expressed as a polynomial are divided by a
generating polynomial, and the residue is used as CRC data.
Modbus RTU uses the CRC-16 which performs calculation using X16 + X15 + X2
+ 1 as the generating polynomial.
(2) CRC-16 calculation algorithm

The algorism for calculating CRC-16 on the data (N bytes) from the station
number field to the information field is as follows:
START
CRC 㹺㹺㹺 Calculated value of CRC-16

Default settings
POLY 㹺㹺㹺 Generating polynomial
CRC = FFFFh
dtn 㹺㹺㹺 Data counter
POLY = A001h
sft 㹺㹺㹺 Shift counter
dtn =0
DT[dtn] 㹺㹺㹺 Nth data (one byte)
N 㹺㹺㹺 Number of data bytes
XOR 㹺㹺㹺 exclusive OR
sft = 0
DT[0] is station number, DT[1] is FC, and

CRC = CRC XOR DT[dtn]
DT[2]-DT[N-1] are data in the information
field.
Shift CRC to the right by one bit
No
Shift carry available?
Yes
CRC = CRC XOR POLY
sft = sft + 1
sft 㸱 8
Yes
No
dtn = dtn + 1
13 dtn 㸱 N ?
Yes
No
END
(3) CRC-16 calculation example

The [Table 13-7] is the result obtained from CRC-16 calculated according to its
algorithm using the query to read parameters PA1_41 to 47 (7 pcs). The last data
No.52: C651h will be added to the end of the frame in order of digits from lower
to upper.
Station No. FC Address No. of registers CRC check

01h 03h 40h 28h 00h 0Eh 51h C6h
[Table 13-7] calculation examples

bit
No. Calculations Shift carry
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1 CRC (initial value) 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
2 POLY (initial value) 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1
3 DT[0] (station no.) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
4 CRC = No.1 XOR No.3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
Shift CRC by 2 bits to the right
5 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
(until shift-carry occurs.)
6 CRC = No.5 XOR No.2 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0
7 Shift CRC by 2 bits to the right 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1
8 CRC = No.7 XOR No.2 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0
10 CRC = No.9 XOR No.2 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0
Shift CRC by 2 bits to the right
11 0 0 1 0 0 0 0 0 0 1 1 1 1 1 1 1 1
(Finished with sht =8.)
12 CRC = No.11 XOR No.2 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0
13 DT[1] (FC) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
14 CRC = No.12 XOR No.13 1 0 0 0 0 0 0 0 0 1 1 1 1 1 0 1
15 Shift CRC by 1 bit to the right 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 0 1
16 CRC = No.15 XOR No.2 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 1
18 CRC = No.17 XOR No.2 1 1 0 1 0 0 0 0 0 0 0 1 1 1 1 0
20 CRC = No.19 XOR No.2 1 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0
22 CRC = No.21 XOR No.2 1 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0
23 Shift CRC by 2 bits to the right 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 0
24 DT[2] (Address (H)) 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
25 CRC = No.23 XOR No.24 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0
27 DT[3] (Address (L)) 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0
28 CRC = No.26 XOR No.27 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1
30 CRC = No.29 XOR No.2 1 0 1 0 0 0 0 0 0 0 0 0 0 1 0 1
13
32 CRC = No.31 XOR No.2 1 1 1 1 0 0 0 0 0 0 0 0 0 0 1 1
34 CRC = No.33 XOR No.2 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0
36 DT[4] (No. of registers (H)) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
37 CRC = No.35 XOR No.36 0 0 0 0 0 1 1 0 1 1 0 0 0 0 0 0
39 CRC = No.38 XOR No.2 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0
bit
No. Calculations Shift carry
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
40 Shift CRC by 1 bit to the right 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0
41 DT[5] (No. of registers (L)) 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0
42 CRC = No.40 XOR No.41 0 1 0 1 0 0 0 0 0 0 0 0 1 0 0 0
44 CRC = No.43 XOR No.2 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1
46 CRC = No.45 XOR No.2 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 1
48 CRC = No.47 XOR No.2 1 1 0 1 1 0 0 1 0 1 0 0 0 0 0 1
50 CRC = No.49 XOR No.2 1 1 0 0 1 1 0 0 1 0 1 0 0 0 0 1
52 CRC = No.51 XOR No.2 1 1 0 0 0 1 1 0 0 1 0 1 0 0 0 1
13
7. Communitacation methods
<Unicast method>
Messages are sent in the following order in this method: (1) → (2) → (3) → (4) → (5) → (6).
Host controller
(master)
(1) Transmission message
(6) Response message

(4) Response
(3) Transmission
message
message
(5) Transmission
(2) Response message
message
<Broadcasting method>
A transmission message is sent to slaves simultaneously in this method. No response message
is sent back.
Host controller
(master)

(1) Transmission
message
13
13.1.4 Sample Wiring with Host Controller

Operation display (host controller)
No terminal
resistor is
needed.
In case of using Fuji’s MONITOUCH

MONITOUCH 㸝MJ1/MJ2㸞 Smart 㸝CN3A㸞

Signal name Pin.NO Pin.NO Signal name
-RD/-SD 2 8 P5
+RD/+SD 1 7 M5 (0 V)
SG 5 6 *TXD
FG Shell 5 RXD
4 *RXD
3 TXD
2 M5 (0 V)
1 P5
RJ45 connector
࣬Connect between Smart and Smart with a commercial LAN cable (straight).
13
13.1.5 Communications Procedures

1. Start of communications
The amplifier cannot perform communications after the power supply is turned on
until the internal initialization has been complete. When turning on the amplifier,
perform the procedure below, and then start normal communications.
1. Turn on the power supply, and wait for approximately 1.5 s.

2. Send an FC 08h (maintenance echo back) query from the master.
3. Confirm that a response message (echo back) is returned from the amplifier.
2. Communications timings
Communications timings are as follows:
Queries with specifying an amplifier's station number
Master : Query Query

Amplifier : Response Response
T1 T2 T1
Broadcast queries
Master : Query Query Query

Amplifier : T3 T3
(1) Amplifier’s response time (T1)

This is the time passing after a query is sent from the master until the amplifier
starts sending a response message. When communication timeout is monitored
by the master, time around T1 + 100 ms is recommended.
(2) Sending/receiving switching time (T2)

This is the time passing after a response message is sent by an amplifier until
the amplifier becomes able to receive the next query.
When the master has received a response message from the amplifier, it must
wait for T2 or more before sending the next query.
(3) Waiting time after a broadcast query is sent (T3)

This is the time passing after a broadcast query is sent by the master until the
amplifier becomes able to receive the next query. When the master has sent a
broadcast query, it must wait for T3 or more before sending the next query. 13
(4) Definition of amplifier’s timings

Timings on the amplifier side are defined as follows:
Recommended
FC Information field T1 T2 T3
timeout setting
Other 115200 bps㸯1.7 ms
than - 38400 bps㸯 5 ms
100 ms
10h 19200 bps㸯 10 ms 115200 bps㸯1.7 ms
10h Other than below 9600 bps㸯 10 ms 38400 bps㸯 5 ms Same
Specify that n sets 19200 bps㸯 10 ms as T1
of parameters or 9600 bps㸯 10 ms
Within (n+2)×10 ms 250 ms
positioning data are
written in
 Response time
It is able to specify a response time of the amplifier (T1) by PA2_94 (response
time).
However, actual response time becomes {time for 3 characters + time for
executing processing} (T0) or longer.
* Although T0 varies depending on communications baud rate, FC, and so on,
the shortest time is 2.5 ms for 38,400 bps.
If any time longer than T0 is specified, the amplifier responses after waiting for
the specified time.
Master 㸯 Query
Amplifier㸯 T0
PA2-94 < T0 PA2-94 Response
PA2-94 > T0 PA2-94 Response
After the master has sent a query, if it takes a long time until the master switches into
the receiving state, set PA2_94 (response time) as needed because responses from
the amplifiers might not be received correctly.
13
3. Error processing
Errors are classified into the following:
(a) Physical/character-level errors : Parity error, framing error, and so on
(b) Protocol level error (1) : CRC error
(c) Protocol level error (2) : Incorrect FC/address/data
(1) Amplifier’s operation when an error is detected

An amplifier operates as follows when it has detected one of various errors while
receiving a query from the master:
If an error of type (a) or (b) is detected:
The amplifier discards the data which have been received up to that time, and
returns to the reception waiting state. No response message is returned.
It is recommended that the master monitors timeout after sending a query.
If an error of type (c) is detected:

The amplifier returns an exceptional response. It must confirm the content of the
query according to the exceptional code.
(2) Master’s operation when an error is detected (recommended)

While the master is receiving a response message from an amplifier, if it has
detected one of the various errors, it is recommended to send the same query
again (retry processing) after waiting for T2 after the reception has been
complete.
13
4. Communication time over

Communication time over is detected if any time other than 0.00 s is set on
PA2_95 (communication time over).
If an amplifier has been in the state of waiting for receiving a message over
the time specified by PA2_95, a communication time over has occurred, and
all the communication CONT signals (CONT9-24) operated by the Modbus
communications are set off.
When communication time over has occurred, the station number mode of the
keypad is displayed as follows (an example of station number 01):
࣬ Normal display of station number
࣬ Communication time over

Communication time over detected
(“_” is displayed at the second leftmost digit.)
Even if communication time over has occurred, communications can be

performed as usual. When the amplifier receives a query from the master to the
self station number or a broadcast query, communication time over is cleared,
and it returns to the normal display.
Master : Query Query

Amplifier : Response Reception waiting state
T2
PA2-95 Display
Communication time over detected Cancel

Turn CONT9 to 24 OFF
If PA2_95 is set to 0.00 s, communication time over is not detected. Use this setting
as needed, for example, if the system communicates periodically and you wish to
detect discontinuation of the communications.
5. Communications example
5-1. Immediate value data operation
A Communications example for conducting positioning operation with
immediate value data is described.
 Preparation
• Select the positioning operation control mode.
13 ･･･ PA1_01: Control mode selection =7: Positioning operation
• Assign [START] to CONT9. ･･･ PA3_09: CONT9 signal assignment =4: [START]
• Assign [INP] to OUT6. ･･･ PA3_56: OUT6 signal assignment =2: [INP]
 Communications example
• Turn on [S-ON] assigned to CONT1 to arrange the operation state, and
perform communications as shown below.
• The example assumes a communications baud rate of 38400 bps.
5 ms 5 ms 5 ms 5 ms 5 ms 5 ms 5 ms 5 ms 5 ms
䐖䐗䐘䐙䐚䐚䐛䐜䐝䐝
Query
Response
Immediate value data setting 1 Immediate value data setting 2
[START] OFF ON
[INP] ON OFF

operation 1
Speed
operation 2
(1) Write immediate value data setting 1 as immediate value data.

Setting 1: Designation method = ABS. Immediate value position = 500000 units.
Immediate value speed = 500.00 r/min
Query: 01 10 5100 0006 0C 00000000 0007A120 0000C350 D9EC (21 bytes)
Response: 01 10 5100 0006 50F7 (8 bytes)
(2) Write “1” (ON) to [START] to start positioning operation. (Immediate value data
operation 1 based on immediate value data setting 1 starts.)
Query: 01 10 0000 0002 04 00000001 326F (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
The detail timing at this time is shown below.

5 ms
Query
Detection of time for 3 1.5 ms Response

characters (38400 bps)
[START] 0.5 ms
Speed 0.5 ms
(3) Write “0” (OFF) to [START]. (This is to generate a rising edge in the next start.)
Query: 01 10 0000 0002 04 00000000 F3AF (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
(4) Write immediate value data setting 2, which is for the next operation, as
immediate value data.
The immediate value data operation follows the immediate value data read at
the start (rising edge of [START]). After operation is started, you can write the
following setting as immediate value data.
Setting 2: Immediate value position = -100000 units. 13
Immediate value speed = 200.00 r/min
Query: 01 10 5101 0004 08 FFFE7960 00004E20 667A (17 bytes)
Response: 01 10 5101 0004 80F6 (8 bytes)
(5) Read [INP] and check that immediate value data operation 1 is finished.
If [INP] is turned off, immediate value data operation 1 is in progress. (5) is
repeated until [INP] is turned on.
Query: 01 03 0100 0002 C5F7 (8 bytes)
Response: 01 03 04 0000 0000 FA33 (9 bytes)
↑ If “1”, [INP] is turned on.
Because immediate value data operation 1 is
finished, the process proceeds to step (6).
(6) Write “1” (ON) at [START] to start positioning operation. (Immediate value data
operation 2 based on immediate value data setting 2 starts.)
Query: 01 10 0000 0002 04 00000001 326F (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
(7) Write “0” (OFF) at [START]. (This is to generate a rising edge at the next start.)
Query: 01 10 0000 0002 04 00000000 F3AF (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
(8) Read [INP] and check that immediate value data operation 2 is finished.
If [INP] is OFF, immediate value data operation 1 is in progress. Repeat step (8)
until [INP] is turned on.
Query: 01 03 0100 0002 C5F7 (8 bytes)
Response: 01 03 04 0000 0000 FA33 (9 bytes)
↑ If “1”, [INP] is turned on.
Immediate value data operation 1 is finished.
5-2. Monitoring cycle

A communications cycle example for writing the CONT signal to read
monitored data is shown as a communication method for starting operation
and monitoring the state. The example assumes a communications baud rate
of 38400 bps and 11-bit characters.
Master Amplifier
Communication CONT signal write

3.7 ms
01 10 0000 0002 04 0000**** **** (13 bytes)
5 ms
2.3 ms
01 10 0000 0002 41C8 (8 bytes)
5 ms Cycle
32 ms
Monitor data read (2 pcs.)
2.3 ms
01 03 1006 0004 A0C8 (8 bytes)
5 ms
13
3.7 ms
01 03 08 ******** ~ **** (13 bytes)
5 ms
Communication CONT signal write

3.7 ms
01 10 0000 0002 04 0000**** **** (13 bytes)
5 ms
2.3 ms
01 10 0000 0002 41C8 (8 bytes)
5 ms
13.2 PC Loader
Communications
The transmission and reception commands of the BSDS type servo amplifier
are described in details in this section.
The BSDS type servo amplifier is capable of reading data and writing
parameters via serial communications.
13.2.1 Station Number

The station number to the servo amplifier (parameter PA2_72: station number)
setting determines the station number of the message. After changing the parameter,
by shutting down and turning on the power, the station number will be enabled.
13.2.2 Communication Specifications

㻵㻶㻗㻛㻘㻃㻦㼒㼐Communications
RS-485 㼐㼘㼑㼌㼆㼄㼗㼌㼒㼑㻃㻶㼓㼈㼆㼌㼉㼌㼆㼄㼗㼌㼒㼑
Specifications
Item Specifications
Specification
Signal level RS485
RS-485
Synchronization method Asynchronous, no protocol
Communication method 4-wire type, semi-duplex communication
Transmission speed 9600/19200/38400bps (Setbps
9600/19200/38400/115200 at parameter PA2_72.)
(Set at parameter PA2_73.)
Transmission code 8 bits
Start bit: 1 bit

Transmission Data bit: 8 bits
configuration Parity bit: 1 bit (even)
Stop bit: 1 bit
Transmission control Transparent mode (No separation with DLE character)

Error control Check sum
Transmission length Reception 128 bytes, transmission 128 bytes (max.)
One-to-n communications (1ӊnӊ1)
communication (1䍱n䍱31)
The servo amplifier

amplifier functions
functionsas
asaaslave
slaveand
andresponds
respondstotomaster
mastercommands.
commands.
No communications
communication isare made
made betweenslaves.
between slaves.
Transmission format
Master
Master
(General-purpose
(General-purpose PC)
PC)
(General-purposecommunications)
(General-purpose communication)
Slave 1 Slave 2 Slave 3 Slave 31
13
Total wiring length 500m
500 m
Station No. 1 to 31 (Set at PA2_73.)
Connection cable LAN cable (straight) or equivalent
Terminator treatment On master
master side:
side: 100
100 Ω recommended.
[䂿] Slave
recommended. side:
Slave Unnecessary
side: Unnecessary
Operation command: Within 100 ms

100ms
Response time
Data (parameter) transfer: Within 100
100ms
ms
* Some pieces of software do not allow eight data bits and a stop bit simultaneously.
It is recommended to use the RS-232C - RS-422 converter (model: NW0H-CNV) for the use of 1:1
communications between the master and the slave (servo amplifier). Do not use it for multiple unit connection.
13.2.3 Transmission Protocol

Transmission format
Description Transmission command Reception command
Order
(Hexadecimal value) (From host to amplifier) (From amplifier to host)
(1) Start code 5A 5A
(2) Count of No. of pieces of data No. of pieces of data No. of pieces of data
(3) Fixed value used by system 00 00
(4) Process status FF 00
(5) Connection method 7A 7A
00: Fixed 00: Fixed
(6) Amplifier station No. Station number of target
amplifier Amplifier station No.
11 11
00 00
Fixed value used by FF FF
(7)
system FF FF
FF FF
FF FF
(8) CMND As per command As per command
(9) MODE 00 00
(10) End data 00 00
(11) Sequence No. 01 01
No. of pieces of data of No. of pieces of data of
(12) Data section count data section data section
(13) Fixed value used by system 00 00
Memory type Memory type
Address (L) Address (L)
Address (M) Address (M)
Address (H) Address (H)
No. of loaded or written No. of loaded or written
(14) Data section bytes bytes
00 00
STR1
As per command STR2
As per command
(15) BCC Calculated BCC Calculated BCC
*1: The range of calculation of the BCC is from (2) to (14).
*2: The range of counting of the number of data pieces is from (4) to (15).
13
13.2.4 Description of Transmission Data

Transmission code
Item Description (hex.) Function
Start code 5Ah (Fixed) Start code

Count of No. of pieces of Byte counter
data XXh (Variable) Enter the number of bytes from the process status to BCC.
00h (Fixed)
Fixed value used by or Enter the value specified in the transmission format table.
system XXh (Fixed)
Process status 00h or FFh 0xFF for a request command, or 0x00 for a response command.
Connection method 7Ah (Fixed)
Station No. of amplifier

01h to 1Fh Station number
(Variable) Enter the station number identifying the servo amplifier (1 to 31).
CMND XXh (Variable) Designate the command given to the servo amplifier.
MODE 00h (Fixed)
End data 00h (Fixed)
Sequence No. 01h (Fixed)
Count of data section XXh (Variable) Enter the number of bytes of data section. Max. 108 bytes.
Data section XXh (Variable) Enter the value of each command.

Check sum
BCC XXh (Variable) 0x00 - (sum of number of bytes from data number count to data section)
13.2.5 Status Data

Status data (STR1, STR2)
Bit
Code Function Description
position
7 Command acceptance 0: Accepted. 1: Not accepted
6 Data error 0: None. 1: Yes
5 Transmission error 0: None. 1: Yes
4 Not used 0: Fixed

STR1
0: Initialization finished.
3 Completion of power-on initialization 1: Being initialized
2 ONLINE/OFFLINE 0: ONLINE,1: OFFLINE
1 In-position 0: Moving. 1: Motion finished
0 Alarm detection 0: None. 1: Yes

0: Uncertain
STR2 7 to 0 Not used (Area used by manufacturer)
Bit position (STR1)
7 0
0
Alarm detection
In-position
ONLINE/OFFLINE
13
Completion of power-on initialization
(Not used)
Transmission error
Data error
Command acceptance
13.2.6 Command List

Command list
Data section
No. Function CMND
䝥䝦䝮 ⛸ื
Memory type Address (L) Address (M) Address (H)
Monitor relations
01 Data read with multiple monitors 50h 01h 00h 00h 04h
Sequence monitor relations
02 Sequence mode read 01h
03 System status read 04h
04 Alarm at present read 50h 02h 00h 00h 10h
05 Alarm history read 11h
06 Sequence I/O signal read 12h
Parameter editing relations
07 PA1 parameter read 50h 00h

Quantity No.
21h
(1 to 15) (1 to 99)
08 PA1 parameter write 51h 01h

Quantity No.
22h (1 to 15) (1 to 99)

Quantity No.
23h (1 to 15) (1 to 99)
Operation command relations
13 Alarm reset 01h 17h

51h 08h 00h
14 Alarm history Initialization 01h 23h
13.2.7 Command Transmission Specifications

The message exchanged between the host and amplifier is categorized into the
following two types:
• Transmission message: Message sent from host to amplifier
• Response message: Message sent from amplifier to host
13 Communication is not made between amplifiers.
13.2.8 Communications Starting Procedure

The amplifier does not respond to the host until power is turned on and the internal
initialization process is finished. Conduct the following procedure at power-on, and
then start regular communications.
(1) After the amplifier is turned on, wait for about 1.5 s.
(2) The host issues any command and checks if the amplifier responds.
At the time, the “status data (STR1)” in the response data is checked if
“completion of power-on initialization (bit 3)” is 0 (OFF). If the bit is 1 (ON),
initialization is in progress.
13.2.9 Regular Communications Procedure

(1) The host sends a transmission message to the amplifier.
(2) When receiving a transmission message, the amplifier processes the
transmission message and sends back a response message.
The host sends the next transmission message after checking the response
message. Do not send the transmission message without checking the response
message.
(3) The amplifier is constantly in command state from the host unless process (2) is
in progress.
[Example of processing procedure upon an error for improvement of reliability]

(1) Transmission error at physical or character level (detected by amplifier)
If a transmission error at the physical or character level (such as a parity
error) is caused during reception of a transmission message sent from the
host, the amplifier does not send back the response message (considered as
nonresponse).
If there is no response from the amplifier, the host should send the same
transmission message again.
• The timer for judging absence of response (time-out) is counted after
transmission of the transmission message is finished.
• Time-out period shall be as below according to the transmission speed.
Parameter interrupt command Other commands
115200 bps: 250 ms or over 100 ms or over
• The retry frequency depends on each application, but recommend being more
than twice.
13
(2) Transmission error at physical or character level (detected by host)
If there is a transmission error at the physical or character level during reception
of a response message from an amplifier, the host should send the same
transmission message again.
• Re-transmission should be performed after the following timing after the
transmission error.
115200 bps: 50 ms or over

• The retry frequency depends on each application, but recommend being more
than twice.
13.2.10 Protocol Level Error

If an error (data error) is found in the protocol, the amplifier does not process
the transmission message but it sends error data in “status data (STR1)” of the
response message.
For the description of STR1, refer to “13.2.5 Status Data.”
It is recommended to check error data during development of host application
software.
Debug the protocol according to the error data.
• The data error is caused if there is an error in the transmission message data
(header, BCC, setting range of parameter data, etc.). Correct data.
• A command reception error is caused if parameter writing is attempted in
the parameter write protection state. Check the setting of parameter PA2_74
(parameter write protection).
• In the LV (under voltage) state, memory access to the amplifier is limited and
command acceptance may be rejected if parameter reading or writing or alarm
history reading is attempted. Check the power supply state.
13
13.2.11 Wiring (CN3)

Connect to the host controller with marketed LAN cable.
Connect between the host (master) and servo amplifier (slave) so that the output of
the host controller becomes the input of the servo amplifier.
Connect between a servo amplifier (slave) and another servo amplifier (slave) with a
straight cable.
The connector is RJ-45 (8 pins). No termination is necessary.
Up to 31 servo amplifiers can be connected.
No terminal
Host resistor is
controller needed.
 Pin layout of connector

IN port (CN3A) OUT port(CN3B)
8 P5 8 N.C.
7 M5(0V) 7 M5(0V)
6 *TXD 6 *TXD
5 RXD 5 RXD
4 *RXD 4 *RXD
3 TXD 3 TXD
2 M5(0V) 2 M5(0V)
1 P5 1 N.C.
(Upper side) (Lower side)
13
 Standard connection diagram

Frame 1
([WHUQDOEUDNLQJ
Resistor
UHVLVWRU
31MXQFWLRQ
Connect the external regenerative
braking resistor
resistor
across RB1 and RB2. (Remove the
jumper wire from
jumper wire from RB2
RB2 and
and RB3.)
RB3.)
1 3 5% 5%
Commercial power supply:
In case of single-phase 200 V input, connect 7% ͤ
7%
to the L1 and L2 terminals. 7% ͤ
/
8 8
/
9 9
/ 㹂
:
:

9'& %U
&1$ ,1
㻖 %U
㻙 &1
㻘
3 3
㻗
0 0
㻔
㻛㻳㻘 6,* 3*
6,*
6,* 6,*
㻕 %$7 %$7
㻶㻚 %$7
㻰㻘 %$7
㻪 )*
㻖 &1% 287
㻙
㻘 Servomotor
㻗
㻔
㻛㻱㻑㻦㻑
&1
㻕
㻚 %$7
㻰㻘
%$7 0
&1
95()
0 &1
75() 021
0 021
0
0
ࠈ33,
ࠈ&$
ࠈ &$ ))$
ࠈ&% ))$
&% ))%
))%
))=
))=ࠈ
ࠈ&20,1 )=
ࠈ&217 0
ࠈ&217
13 ࠈ&217
&217
287
287
&217 287ࠈ
&20287
Servo amplifier
RYH-VV type
)UDPH
13.2.12 Communications
 Reading multi-monitor data
The designated multi-monitor data is read in hexadecimals.
The number of monitor data read at a time is four.
CMND 50h
Sent from host controller Sent from servo amplifier

DATA
7 0 7 0
(n)
Memory type 01h Memory type 01h
Address (L) 00h Address (L) 00h
Address (M) 00h Address (M) 00h
Address (H) 04h Address (H) 04h
Number of loaded Number of loaded
bytes 16h bytes Same as request
Dummy 00h Dummy 00h
Data 1 designation BCD (See below.) STR1
Status data
Data 2 designation BCD (See below.) STR2
Data 3 designation BCD (See below.) Data 1 designation 00H
Same as request
Data 4 designation BCD (See below.) Data 2 designation Same as request
Data 3 designation Same as request
Data 4 designation Same as request
LL
LH
Code Monitor name Code Monitor name Monitor data 1
HL
00h No designation 15h DC link voltage (max.)
HH
01h Feedback speed 16h DC link voltage (min.)
LL
02h Command speed 17h VREF input voltage LH
Monitor data 2
03h Command torque 18h TREF input voltage HL
04h Peak torque 19h OL thermal value HH
05h Motor current 20h Braking resistor
Regenerative thermal
resistor thermalvalue
value
LL
LH
06h Effective torque 21h Power Monitor data 3
HL
07h Feedback position 22h Motor temperature
HH
08h Command position 23h Overshoot unit amount
LL
09h Position deviation 24h Settling time LH
Monitor data 4
10h Command Pulse frequency 25h Resonance frequency 1 HL
11h Feedback cumulative pulse 26h Resonance frequency 2 HH
Command cumulative pulse
For manufacturer Reserved
12h
13h LS-Z pulse
14h Load inertia ratio
For details of monitor data, refer to the next page.
13
Data
No. Monitor data Max. value
(32-bit long binary)
1 Feedback speed ±3000 r/min/±3000h ± Max. rotation speed
2 Command speed × 1.1
3 Command torque ±300%/±1FFFh ±300%
4 Peak torque
5 Motor current
6 Effective torque
7 Feedback position ±1 [unit amount] / ±1h *2
8 Command position
9 Position deviation ±1 [selection unit (*1)]/ ±1h *2
10 Command pulse frequency ±0.1 kHz/±1h 1 MHz
11 Feedback cumulative pulses ±1 pulse/±1h *2
12 Cumulative input pulses
13 LS-Z pulse ±1 pulse/±1h Encoder pulse
14 Load inertia ratio 1 time / 100h 300 times
15 DC link voltage (max.) 550 V/3FFh 550 V
16 DC link voltage (min.)
17 VREF input voltage ±10.6765 V/±7080h ±12 V
18 TREF input voltage ±10.6765 V/±1FFFh
19 OL thermal value 100%/1000h 100% (trip level)
Regenerative resistor thermal
20
value
21 Power Wattage ±300%/±1FFFh ±300%
22 Motor temperature ±1°C/±4h 100°C
23 Overshoot unit amount ±1 [selection unit (*1)] /±1h *2
24 Settling time 0.1 ms/1h 100.0 ms
25 Resonance frequency 1 10 Hz/1h 4000 Hz
26 Resonance frequency 2
*1 The unit depends on that designated with PA1_31 (deviation unit selection).
*2 The data range is from -2147483648 to 2147483647.
(In signed hexadecimal notation, from 80000000h to 7FFFFFFFh)
If the range is exceeded, the count cycles are as shown below.
2147483647
Decrease Increase
-1 0 +1
Decrease Increase
-2147483648
13

 Sequence mode read

CMND 50h

DATA
7 0 7 0
(n)
bytes 05h bytes 05h
Dummy 00h Dummy 00h
STR1
Status data
STR2
Control mode See the table below.
Sequence mode See the table below.
Sub mode 00h
Code Control mode

00h Position control
01h Speed control
02h Torque control
Code Sequence mode

00h Servo OFF
01h Servo ON
02h Zero speed stop
03h Manual feed
Pulse /
04h Position command operation
05h +OT
06h -OT
07h Under voltage
08h Positioning
09h Homing
0Ah Interrupt positioning
13
 System status read
CMND 50h

DATA
7 0 7 0
(n)
Number of loaded
bytes 11h Number of loaded bytes 11h
Dummy 00h Dummy 00h
STR1
Status data
STR2
Dummy 00h
Amplifier type See below.
Smart identification 40h
For manufacturer 20h
Reserved
<Amplifier-related data> Amplifier voltage See the table below.

<Motor-related data>
Amplifier capacity See the table below.
Code Amplifier type Code Motor type Amplifier ZNO. BCD

00h V type Motor type See the table below.
00h GYC 5000
Motor voltage See the table below.
01h GYS 5000
Motor capacity See the table below.
Amplifier rating 03h GYC 6000
Code (r/min) Encoder model See the table below.
05h GYS 6000
00h 3000 06h GYG 2000 I/F 00h
01h 2000 07h GYG 1500
02h 1500
Amplifier voltage Code Motor voltage (V)

Code (V) 00h 200
00h 200 02h 100
02h 100
Motor, amplifier capacity [W] Motor, amplifier capacity [W]

Code
(GYS,GYC) (GYG)
00h - 500 <Encoder-related data>
01h 50 750
02h 100 850 Code Motor type
03h 200 1000 06h 18-bit ABS
04h 400 1300 07h 20-bit INC
05h 750 1500 09h 17-bit INC
06h 1000 1800
07h 1500 2000
08h 2000 2900
09h 3000 -
0Ah 4000 -
0Bh 5000 -
13
 Alarm at present read
CMND 50h
DATA
7 0 7 0
(n)
Number of loaded Number of readed
bytes 0Ah bytes 0Ah
Dummy 00h Dummy 00h
STR1
Status data
STR2
(L)
Alarm code
(H)
Total time-main (L)
power supply
(H)
Total time-control (L)
power supply
<Alarm-related data> (H)
Motor running time
(L)
Code Symbol Name (H)
䜷00h
䞀䝍䜷䞀䝍
䟿 (No ྞ⛘
detection)
01h oc1 Overcurrent 1
03h oS Overspeed
04h 䟿䟿
05h Hu Overvoltage
06h Et 1 Encoder Trouble 1
07h Et 2 Encoder Trouble 2
08h ct Circuit Trouble
09h dE Memory Error
0Ah Fd Fuse Blown
Fuse broken
0Bh cE Motor Combination Error
0Ch tH Breaking Transistor Overheat
0Dh Ec Encoder Communication Error
0Eh ct E CONT䟺 Control signal䟻 Error
0Fh oL1 Overload 1
10h oL2 Overload 2
11h r H4 Inrush Current Suppression Circuit Trouble
21h LuP Main Power Undervoltage

22h r H1 Internal Breaking Resistor Overheat
23h r H2 External Breaking Resistor Overheat
24h r H3 Breaking Transistor Error

25h oF Deviation Overflow
26h AH Amplifier Overheat
27h EH Encoder Overheat
28h dL1 Absolute Data Lost 1
13
29h dL2 Absolute Data Lost 2
2Ah dL3 Absolute Data Lost 3
2Bh AF Multi-turn Data Over Flow
2Ch IE Initial Error
 Alarm history read
CMND 50h
DATA
7 0 7 0
(n) Memory type
Memory type 02h 02h
Address (L) Quantity (01 to 02h) Address (L) Quantity (01 to 10h)
Address (M) Starting No. (01 to 20h) Address (M) No. (01 to 20h)
bytes (L) bytes (L)
(Quantity × 32) + 2 Number of loaded (Quantity × 32) + 2
Number of loaded
bytes (H) bytes (H)
STR1
Status data
STR2
Designate addresses (L) and (M) in a BCD.
(L)
Alarm code
(H)
Total time-main (L)
<Alarm-related data> power supply (H)
Code Symbol Name Cumulative excitation (L)
time of control circuit (H)
00h 䟿 (No ྞ⛘
detection)
01h oc1 Overcurrent 1 Motor running (L)
time (H)
03h oS Overspeed (L)
Feedback speed
Alarm history of (H)
04h 䟿䟿
designated Feedback speed (L)
05h Hu Overvoltage
number (5ms before) (H)
06h Et 1 Encoder Trouble 1 (32 bytes)
07h Et 2 Encoder Trouble 2 Command (L)
speed (H)
08h ct Circuit Trouble
09h dE Memory Error Command (L)
torque (H)
0Ah Fb Fuse
Fuse Broken
Blown
0Bh cE Motor Combination Error (L)
Motor current
0Ch tH Breaking Transistor Overheat
(H)
0Dh Ec Encoder Communication Error (L)
Effective torque
0Eh ct E CONT䟺 Control signal䟻 Error (H)
0Fh oL1 Overload 1 (L)
DC link voltage
10h oL2 Overload 2 (H)
11h r H4 Inrush Current Suppression Circuit Trouble (L)
EC error count
21h LuP Main Power Undervoltage (H)
22h r H1 Internal Breaking Resistor Overheat Command position (L)
(high order word) (H)
23h r H2 External Breaking Resistor Overheat
24h r H3 Breaking Transistor Error Command position (L)

(low order word) (H)
25h oF Deviation Overflow
26h AH Amplifier Overheat (L)
Sequence mode
27h EH Encoder Overheat (H)
28h dL1 Absolute Data Lost 1 Alarm history of 00h
Dummy
29h dL2 Absolute Data Lost 2 designated 00h
2Ah dL3 Absolute Data Lost 3 number by
2Bh AF Multi-turn Data Over Flow designated
2Ch IE Initial Error quantity (32 bytes)
13

 Sequence I/O signal read
CMND 50h

DATA
7 0 7 0
(n)
Number of loaded
bytes 0Ah Number of loaded
bytes
0Ah
Dummy 00h Dummy 00h
STR1
Status data
STR2
7 0
Input signal See the figure on the left.
Input signal Dummy 00h
Dummy 00h
CONT1
Dummy 00h
CONT2
Output signal See the figure on the left.
CONT3
Dummy 00h
CONT4
Dummy 00h
CONT5
Dummy 00h
(Not used)
(Not used)
(Not used)
7 0
Output signal 0
OUT1
OUT2
OUT3
(Not used)
(Not used)
(Not used)
(Not used)
(Not used)
13
 Parameter read
CMND 50h
Sent from host controller

DATA
7 0
(n)
Memory type See the table below.
Address (L) Quantity (01h to 15h)
Address (M) No.(01h to 99h)
Address (H) 00h Sent from servo amplifier
Number of readed
out bytes (L) (Designated No. ×x 6) + 2
Number of readed
out bytes (H)
00h 7 0
Memory type See the table on the left.
* Designate addresses (L) and (M) in a BCD. Address (L) Quantity (01h to 4h)
Example: 49 䊲 49h, 50 䊲 50h Address (M) No.(01h to 99h)
Address (H) 00h
Number of readed out
Memory type Parameter bytes (L) (Designated No. ×
x 6) + 2
Number of readed out
21h PA1_ bytes (H) 00h
22h PA2_ STR1
Status data
23h PA3_ STR2
Parameter of
designated No.
Parameter of designated No. (6 bytes)
7 0
0 0
Data sign Parameter of
(Decimal point position)
0: +, 1: - designated No. + 1
Data status
0: Normal. 1: Memory error
(10th digit) (9th digit)
Parameter of designated
(8th digit) (7th digit) No. + Designated
quantity - 1
(4th digit) (3rd digit)
(2nd digit) (1st digit)
* The data is a 10-digit BCD.
13
 Parameter write
CMND 51h

DATA
7 0 7 0
(n) Memory type
Memory type See the table below. See the table below.
Address (L) Quantity (01h to 15h) Address (L) Quantity (01h to 15h)
Address (M) No.(01h to 99h) Address (M) No.(01h to 99h)
No. of written bytes (L) (Designated No. x 6) No. of written bytes (L) (Designated No. x 6)
No. of written bytes (H) 00h No. of written bytes (H) 00h
STR1
Status data
STR2
Parameter of
designated No.
* If the entire data is correct, the data of the
designated quantity is written.
If an error is found, the following data is not
written.
Bit 6 of STR1 (data error) is turned on and the
Parameter of number of data pieces actually written is sent
designated No. back.
+1
Parameter of designated No. (6 bytes)
7 0
0 0 0
Parameter of Data sign
designated No. (Decimal point position)
0: +, 1: -
+ Designated
quantity - 1
* Designate addresses (L) and (M) in a BCD. (8th digit) (7th digit)
Example: 49 䊲 49h, 50 䊲 50h

Memory type Parameter
21h PA1_
22h PA2_ (4th digit) (3rd digit)
23h PA3_
(2nd digit) (1st digit)
* The data is a 10-digit BCD.
13
 Alarm reset
CMND 51h

DATA
7 0 7 0
(n)
No. of written No. of written
bytes
00h bytes
00h
Dummy 00h Dummy 00h
㻶㻷㻵㻔
Status data
㻶㻷㻵㻕
 Alarm history initialization
CMND 51h

DATA
7 0 7 0
(n)
No. of written No. of written
bytes
00h bytes
00h
Dummy 00h Dummy 00h
STR1
Status data
STR2
13
BSDS Configulator 489
14
14.1 Operating Environment
To run PC Loader, a PC having the following environment is necessary.
• Operating system
Windows XP Professional (Service Pack 1 or later)
Windows XP Home Edition (Service Pack 1 or later)
Windows Vista (Service Pack 1 or later)
Windows 7
• CPU
Pentium 133 MHz or faster (Windows 2000 Professional)
Pentium 300 MHz or faster (Windows XP Professional, Windows XP Home
Edition)
Pentium 800 MHz or faster 32 bits (Windows Vista)
Pentium 1GHz or faster 32 bits（Windows 7）
• Memory environment
64 MB or more (Windows 2000 Professional)
128 MB or more (Windows XP Professional, Windows XP Home Edition)
512 MB or more (Windows Vista)
1 GB or more（Windows 7）
• Display
Windows-compatible display having XGA (1024 x 768 pixels) or better resolution
• Free space of hard disk
100 MB minimum
490 BSDS Configulator
14.2 Installation Method

Before starting installation, exit from Message Manager (MM) (see page 14-4).
[1] Run the BSDS Series Configulator setup program.

Click setup-***.exe.
[2] The installation preparation screen is displayed.

Click “Next “
[3] The BSDS Series Configulator software license agreement is displayed.

Carefully read the license agreement.
To accept, click “I accept the terms in the license agreement “ then “Next .”
14
[4] Enter user information.

Enter the user name and the division you belong to.
Designate the user of the BSDS Configulator.
After entering and selecting, click “Next .”
[5] The installation preparation start screen is displayed.

Click “Install .”
File copying begins.
[6] The installation end screen is displayed.

Click “Finish “ to finish installation.
14
The BSDS Series Configulator can apply to the following products.

[BSDS Configulator]
(1) BSDS
(2) Servo operator
[Conversion tool]
(1) Parameter file conversion tool [BSD → BSDS]
The description is given mainly for the Configulator for BSDS from the next page.
14
 Message Manager (MM)

Message Manager (hereinafter referred to as “MM”) controls the communications
port when multiple pieces of loader software run. It automatically runs after the
BSDS Series Configulator is launched. Keep MM running during operation of the
BSDS Series Configulator.
If the loader version of respective devices is old, the Configulator for the BSDS
Series will not be enabled. In such a case, terminate the MM and then launch the
Configulator for the BSDS Series.
Look at the Windows task bar to check whether the MM runs or not.
Follow the procedure below to terminate MM (description is for the right handed
mouse).
[1] Move the mouse cursor to the MM icon and click the right mouse button. “Exit
Message Manager” is displayed.
[2] Move the mouse cursor to “Exit Message Manager” and click the left mouse
button. The termination confirmation screen is displayed. Move the mouse cursor
to “Yes” and click the left mouse button.
[3] MM is terminated and the icon disappears from the task bar.
14
14.3 Communications
Setting
Two methods are available to connect the servo amplifier to a PC.
The communications setting detail varies depending on the connection method. See
the following description and set the communications appropriately.
1) When using the RS-232C/485 converter (NW0H-CNV)

 Wiring outline
RS-232C/485 converter
(NW0H-CNV)
CAT5 cable USB/serial cable

(commercial item) (commercial item)
PC Loader
 Setting method
(1) Select “Comm. Setup” from
Wizard Menu.
(2) Select “It communicates directly with the

amplifier(COM).” in the Connection method
item, and then click the OK button.
 Notes
Set the same value between PA2_73 (communications baud rate) on the
amplifier side and the communications baud rate as a communications condition.
14 PA2_73 Communications 0㹺㹺㹺 38400 [bps]ࠉ1㹺㹺㹺 19200 [bps] 0 Power
baud rate 2㹺㹺㹺 9600 [bps]ࠉ3㹺㹺㹺115200 [bps]
2) When using the servo operator

 Wiring outline
CAT5 cable USB cable
(commercial item) (commercial item: B type or MiniB type)
PC Loader
 Setting method
(1) Select “Comm. Setup” from
Wizard Menu.
(2) Select “It communicates by way of servo

operator(USB).” in the Connected method
item, and then click the OK button.
 Notes
Set the same value between PA2_73 (communications baud rate) on the
amplifier side and the communications baud rate setting* on the servo operator
side. (The initial value is 38400 bps for both.)

PA2_73 Communications 0㹺㹺㹺 38400 [bps]ࠉ1㹺㹺㹺 19200 [bps] 0 Power
baud rate 2㹺㹺㹺 9600 [bps]ࠉ3㹺㹺㹺115200 [bps]
*) For the baud rate setting of the servo operator, refer to “Test Running “ in the
servo operator manual.
14
 Procedure for USB hardware search wizard (when using the servo operator)
For Windows 7
[1] Select “Browse my computer for driver
software (advanced) (R).”
[2] Select the USB driver file.

Click the “Browse” button.
[3] Select the folder containing the driver file.
The USB driver is copied in the folder* where BSDS

Configulator is installed.
* Example of BSDS Configulator
C: \Program Files\BSDS Series\Driver
Select the folder and clock “OK.”
14
[4] The folder is designated.

Click “Next”.
[5] Install the driver.

The driver installation is started by clicking
“Install this driver software anyway. “
[6] The file is copied and the completion screen is displayed.

Click the “Close” button to exit from the driver installation.
14
For Windows Vista

[1] Using a USB cable, Connect the PC
with the servo operator.
Install the USB driver.
Select “Install by searching

the driver software (recommended) (L).”
[2] Select “Continue.”
[3] Select “Browse my computer

for driver software(advanced)(R).”
14

Click the “Browse” button.
The USB driver is copied in the folder*

where PC Loader is installed.
* Example of BSDS Series Configulator.
C:\Program Files\BSDS Series \Driver
Select the folder and click “OK.”

Click “Next.”
14
[7] Install the driver.
The driver installation is started by clicking

“Install this driver software anyway.”
[8] The file is copied and the completion screen is displayed.
Click the “Close” button to exit from the driver installation.
14
 Procedure of USB hardware search wizard
For Windows XP
[1] Using a USB cable, connect the PC with the
servo operator.
Install the USB driver.
Select “Install from a list or specific location
(Advanced)” and click “Next.”
Select “Search for the best driver in these

locations“ and place a check mark at “Include
this location in the search .”
Click the “Browse” button and select the USB

driver.
The USB driver is copied in the folder* where

BSDS Configulator is installed.
* Example of BSDS Series Configulator
C: \Program Files\BSDS Series\Driver
Select the folder and click “OK.”
14

Click “Next” to start to install the driver.
[5] Select the SxUsb.sys file.

Click the “Browse “ button to open the
browse screen.
The SxUsb.sys file is found in the following
folder in the default state.
C:\Program Files\BSDS Series\Driver\Win2000
[6] Select the SxUsb.sys file and click the

“Open” button.
[7] “Copy files from “ is designated.

Click the “OK” button.
[8] The file is copied and the completion screen

is displayed.
Click the “Finish” button to exit from driver

installation.
14
14.4 Function List

After the BSDS Configulator is launched, the wizard Menu [General] shown
below is displayed.
• Real time trace

The speed, torque waveform and so on can be obtained easily with a single click.
• Historical trace
Enter trigger settings to obtain waveforms in more details than those obtained with
real time trace.
• Monitor
Monitor [I/O check], [Various numerical data], [Alarm history], [Warning/Forecast
monitor], [Automatic vibration suppressing monitor], or [System configuration].
• Edit Parameters
Parameters can be edited, transferred, compared or initialized.
• Edit positioning data
Positioning data can be edited, transferred, compared or initialized.
• Communication setup
Set up communication conditions for the servo amplifier and the PC.
• Test running
Various test operations can be conducted independently between the servo
amplifier and servomotor.
• Servo analyze 14
The resonance point and anti resonance point of the mechanical system are
located.
For the description of buttons provided on each screen, refer to the Help of PC Loader.
14.5 Use Method at

Setting Up
When setting up the equipment, follow the procedure below for smoother work.
Step Description Items to be confirmed Operation of BSDS Configulator

[1] Operate the Perform manual operation Select Test Operation → Manual Operation.
discrete motor [JOG] to check if the motor
to check if the operates according to
motor commands.
functions
correctly.
Use real time trace to check the motion waveform.
<Acquired waveform (reference)>

Ch1: Command speed (analog)
Ch2: Feedback speed (analog)
Ch3: Command torque (analog)
[2] Connect with Perform I/O check. Perform I/O monitor in the monitor mode to check.
the host If necessary, perform forced
controller and OUT signal output and forced
perform motion pulse output.
to check if the
sequence
program
functions
correctly.
Give commands from the host Use digital monitor in the monitor mode to check the
and check for motions. command pulse frequency and command cumulative
pulses.
[3] Install the motor Operate the motor in the final Use real time trace to check the motion waveform.
to the machine state to check for faults in the
and operate to motion.
check if the <Acquired waveform (reference)>
Ch1: Command pulse frequency
mechanical (analog)
equipment Ch2: Position deviation (analog)
functions Ch3: Command torque (analog)
Ch4: INPOS (digital)
correctly.
14
14.6 Detail Description of

Function
14.6.1 Real-Time Trace
Servomotor motion waveforms are drawn. Sampling time [ms] Tracing time [s]
Data of about 60,000 points can be acquired 1 60
2 120
continuously. 5 300
The trace is automatically terminated when the 10 600
20 1200
limit of 60,000 points is exceeded. 50 3000
Select the desired waveform and press the 100 6000
200 12000
“START/STOP” button to acquire the waveform.
[Example of real time trace screen]
You can show the interval between two points, overlap waveforms, perform FFT
analysis, copy the screen, show parameter data of the acquired waveform, save the
waveform (in a CSV file), or do other things.
Tabs
Buttons For detail description of each tab and button,

refer to the Help of BSDS Configulator. 14
 Tracing procedure
[1] Select the desired waveform.
[2] Select the sampling time.
[3] Press the “START/STOP” button to start to trace.
[4] Press the “START/STOP” button to stop tracing.
 Waveform that can be acquired

Up to eight channels* of analog or digital signals can be acquired.
Waveforms that can be acquired are shown below. (All digital I/O signals can be
traced.)
* Up to four analog signals can be acquired. If four analog signals are selected,
no more digital signals are acquired.
[Example of analog signal selection screen] [Example of digital signal selection screen]
14
14.6.2 Historical Trace

The motion waveform of the servomotor is Relationship between
drawn. sampling time and tracing time
Data of 500 points is acquired. Sampling time [ms] Tracing time [s]
Enter trigger settings to acquire the local 0.125 0.0625
waveform to be observed.
0.250 0.125
0.500 0.25
1 0.5
2 1
5 2.5
10 5
20 10
50 25
100 50
200 100
[Historical trace screen]
You can show the interval between two points, overlap waveforms, perform FFT
analysis, re-load the waveform, copy the screen, show parameter data of the
acquired waveform, save the waveform (in a CSV file), or do other things.
14
 Tracing procedure
[1] Select the desired waveform.
[2] Enter trigger conditions.
[3] Select the sampling time.
[4] Enter the trace number starting at the trigger position.
[5] Press the “START/STOP” button to start to trace.
If trigger conditions are satisfied, the waveform is acquired and the procedure is
automatically stopped.
 Waveform that can be acquired

Same as that of real time trace
 Trigger setting
Both analog and digital waveforms can be used for the trigger setting*.
* The trigger setting is only for the single channel.
Analog trigger setting Digital trigger setting
14
 Example of setting method for measurement of waveform in stoppage

(1) 3 analog waveforms (command speed, position deviation and command torque)
1 digital waveform (in-position (INP))
(2) Select “Use at ↑ edge” as a digital trigger signal of the digital waveform (in-
position (INP)).
(3) Set the sampling time at “1ms.”
(4) Set the trace count from the trigger position at 20.
After entering above, press the “START/STOP” button to start to trace.
(2)
(1)
(3)
(4)
Select [Monitor] → [Digital monitor] to show the overshoot unit amount and settling time
at real time.

14
14.6.3 Monitor
The state of the servo amplifier and servomotor is monitored.
Item Description Screen example

Check the ON/OFF status of
I/O monitor
the digital I/O signal.

Monitor various pieces of data*
during operation (the data is
not saved).
Digital
monitor
* Data that can be monitored in
the monitor mode of the
keypad

The history (incl.
accompanying data*) of past
20 alarms is displayed.
Alarm history
monitor
* Feedback speed at alarm,
torque command, DC link
voltage, etc.

The warnings and forecasts
Warning/
indicated at the servo amplifier
monitor
are displayed.

Automatic
vibration The state of learning of

suppressing automatic vibration
control suppressing is displayed.
monitor

The model of the connected
System
servo amplifier and servomotor
monitor
is displayed.

14
14.6.4 Parameter Editing

Servo amplifier parameters are edited.
(1) (2) (3) (4) (5) (6)
The following functions can be used on this screen.

(1) Reload
Parameters are read out from the connected servo amplifier.
(2) Send changes
Changed parameters are sent to the connected servo amplifier.
(3) Send all
All parameters are sent to the connected servo amplifier.
(4) Comparison
The edited parameters are compared with those of the connected servo amplifier
or those having been saved in a file.
(5) Initialization
Currently edited parameters or those of the connected servo amplifier* are reset
to default values.
* This function can be executed only while the servo is turned off. After
initializing, turn the servo amplifier off then on again.
(6) File information
Data about currently edited parameter file. The type, date, comment and so on
of the servo amplifier and servomotor connected at the time of loading can be
monitored.
Send parameters ((2) and (3)) while the servomotor is stopped to make sure of safety.
Otherwise movement characteristics may change, possibly giving damage to equipment.
14
 Automatic calculation of electronic gear

Press the “Mechanical settings calulation” button at [PA1: Basic setting] to open a
special window. Enter specifications of each mechanical system to automatically
calculate the electronic gear.
 Automatic calculation of workpiece inertia ratio

Press the “Enter vibration suppressing resonance frequency” at [PA1: Control
gain and filter setting] and enter the anti resonance frequency and resonance
frequency* to automatically calculate the workpiece inertia ratio.
* The resonance frequency is not the one suppressed with the notch filter.
Perform servo analyze to check this resonance frequency.
This resonance frequency appears as a set with the anti resonance frequency,
and the value is about twice the anti resonance frequency.
[Example of resonance frequency]

Gain
Resonance frequency: about 90Hz
Anti-resonance frequency: about 45Hz

14
Frequency [Hz]
14.6.5 Positioning Data Editing

Positioning data are registered to the servo amplifier.
Launch the screen by selecting [Menu]
→[Edit Positioning Data].
(1) (2x (3) (4) (5) (6)
The following functions can be used on this screen.

(1) Reload
Positioning data are read out from the connected servo amplifier.
(2) Send changes
Changed positioning data are sent to the connected servo amplifier.
(3) Send all
All positioning data are sent to the connected servo amplifier.
(4) Comparison
Currently edited positioning data are compared with those of the connected
servo amplifier or those having been saved in a file.
(5) Initialization
Currently edited positioning data or those of the connected servo amplifier* are
reset to default values.
(6) File information 14
Data about currently edited positioning data file. The type, date, comment and so
on of the servo amplifier and servomotor connected at the time of loading can be
monitored.
• Refer to the Loader help for explanation of other buttons.
14.6.6 Test Running

Disconnect the servo amplifier from the host to perform test running of the
servomotor from the main body of the servo amplifier.
Use this function if the servomotor does not operate correctly according to host
commands, if the motor fails to start or to check the direction of rotation.
*1 Servo-on is automatically turned on and the motor rotates. Be careful.

*2 To return to the regular mode, turn the servo amplifier off. Be careful.
14
 Each test operation screen

(1) Manual feed
Select the speed (parameters PA1_41 through _47).
The motor rotates forward while the button is clicked on.
The motor reverses while the button is clicked on.
(2) Homing
Press the "Homing" button to start the motor according to the setting of
homing-related parameters PA2_06 through _14.
After the homing, the motion is finished.
(3) Position preset

Press the "Preset" button to change the current position to the one
specified in parameter PA2_19 (preset position).
(4) Z-phase position set

Press the "Set" button to output the Z-phase at the current position and
automatically change parameter PA1_12 (Z-phase position offset).
* "Z-phase position set" fails in the following cases.
PA2_74 (parameter write protection) is set at 1 (write protect).
The zero position (Z-phase) of the encoder is not established.
In this case, turn the motor shaft twice or more.
(5) Auto offset adjustment

Press the "Adjustment Start" button to adjust the offset of the VREF and
TREF analog input terminals and change parameters PA3_32 (speed
command offset) and PA3_34 (torque command offset).
Auto offset adjustment is impossible if PA2_74 (parameter write
protection) is set at 1 (write protect).
14
(6) Feedback cumulative pulse clear
Press the "Clear" button

to reset the cumulative
feedback pulse to
"zero."
(7) Command cumulative pulse clear

Press the "Clear" button
to reset the command
cumulative pulse to
"zero."
(8) Easy tuning

Press the "START/STOP" button to start
one of motions (a).
(a) Press the START/STOP button during the
motion to stop immediately.
Slow running
A motion starts according to parameter
settings (b).
The speed is fixed at 10 r/min.
The function is for the check of the
(b)
traveling amount and direction.
Easy tuning
A motion starts according to parameter
settings (b) while the auto tuning gain 1 is
adjusted. However, the acceleration and
deceleration time is automatically
adjusted.
[Slow running fault screen] [Easy tuning fault screen]
14
(9) Profile operation

Press the "START/STOP" button to start
profile operation.
Press the "START/STOP" button during
the motion to stop after the current cycle.
[Profile operation fault screen]
(10) Positioning start

Launch the positioning start
by selecting [Test running] → [Positioning start].
The following window appears with launching.

(The positioning data edit screen can be launched at the same time for checking the
positioning data.)
14
Select the positioning data to be launched.
Pressing this button starts automatic operation with selected

positioning data.
Positioning operation is canceled and stops if this button is pressed
during operation.
Currently executed positioning data address and feedback current

position are monitored.
(11) Teaching
Launch the teaching by selecting
[Test running] →[Teaching].
The following window appears with launching.

(The positioning data edit screen can be launched at the same time for checking the
positioning data.)
Select the positioning data to write data.
Pressing this button executes teaching.
Data are written to the address selected for the feedback current
position shown here.
* The address to which the teaching was executed will have the ABS
14 type command method. Other setting will not be changed.
(12) Forced OUT signal output

Select the OUT signal output at (a) and select ON or OFF at (b).
To exit from this mode, turn the power off.
(a)
(b)
(13) Forced pulse output

Select the pulse signal to be output, at (a).
A,B-phase
Enter the frequency and press the "Forced pulse output"
button to issue pulses.
Frequency setting range: 0 to ±1000 kHz in increments
a
of 1 kHz
Z-phase
The Z-phase signal alternates each time the "Forced H
signal output" or "Forced L signal output" button is
pressed.
To exit from this mode, turn the power off.
14
(14) Sequence test mode

Even if the servomotor is not connected, you can simulate servomotor
connection state.
Use this function to efficiently debug host programs.
Notes
• Operation conditions and I/O signal functions are the same as those of motor
connection state.
• Be sure to supply the main power (L1, L2 and L3) to the amplifier as a condition
for operation.
• Simulation follows the encoder bit count setting. Enter the encoder bit count.
• No current flows in the motor. (Transistors in the main circuit do not turn on or off.)
• The motor current, effective torque, OL thermal value and regenerative resistor
thermal value do not change.
• The overload warning does not function.
• Under torque control, simulation proceeds in the powering state. The motor rotates
in the same direction as the sign included in the torque command. The speed at
the time follows the setting of easy tuning speed setting (PA1_21).
• INC/ABS system selection (PA1_2) is handled as 0 (INC) internally. (The absolute
system is not simulated.)
• To exit from the sequence test mode, turn the control power (sL1, sL2) of the
amplifier off.
Checking the sequence test mode state

If the servo amplifier is in the sequence test mode, the keypad indication of the
servo amplifier blinks.
Startup screen
14
14.6.7 Servo Analyze

Servo analyze is a tool for measuring frequency characteristics of the mechanical
equipment.
Execute the servo analyze function to visually show the resonance point and anti
resonance point of the mechanical equipment, providing you with approximate
measures of these parameter settings (anti resonance frequency and notch filter
relations).
During servo analyze operation, a torque is added three times. For this reason, the
servomotor actually moves. Note that the motor may turn substantially according to
some vibration torque settings. (Enter a suitable allowable stroke setting to set a limit.)
(1) (2) (3) (4)
 Each setting
(1) Mode
In case of horizontally driven equipment, select “Normal.” In case of vertically
driven equipment, select “UpDown.”
(2) Notch filter
Select “Disable” to check mechanical characteristics such as the resonance
point.
Select “Enable” to check effects of the notch filter.
(3) Adds vibration torque
Larger the value, better the accuracy. But the shock is larger, causing a larger
burden to the equipment. In regular cases, select the default setting (50%).
(4) Permission stroke 14
An error is caused if the servomotor moves beyond this reference value. A travel
of the rotation setting is not guaranteed.
14.6.8 Diagnosis to be Made if the Servomotor Fails to

Start
If the servomotor fails to start or unexpected message is shown, launch “Immobility
diagnosis” to analyze probable causes at real time.
 Starting method
Select [Diagnosis] → [Diagnosis Menu] from the menu or click the icon to start.
Select [Diagnosis] → [Diagnosis Menu] from the menu or click the icon to start.
 Reference screen
 Operation method
Select from the list of "Operation being started" (1) in the screen above.
Press the "START/STOP Diagnosis" button to show the amplifier state and estimate the cause of
immobility.
14 The BSDS Configulator supports following languages: Japanese, English, Chinese

(both simplified and traditional), and Korean.
14.7 Servo Operator

14.7.1 Wiring
Use a USB cable (B type or MiniB type) for the connection between the PC and the
servo operator.
USB cable
USB (B type) USB (MiniB type) (B type or MiniB type)
RJ-45
(for the connection to servo amplifiers)
PC Loader
14.7.2 BSDS Configulator for Servo Operator

The series selection screen shown below appears when the BSDS Configulator for
the BSDS series is started.
Select the servo operator among selection items to start the BSDS Configulator for
the Servo Operator.
14
14.7.3 Wizard Menu

The Wizard Menu screen shown below appears when the PC loader for the BSDS
series is started.
• Monitor
The alarm history stored in the servo operator memory can be monitored.
• Edit parameters
Four parameters stored in the servo operator memory can be checked and edited.
In addition, new parameters can be registered to the servo operator memory.
• Edit positioning data
Two pieces of positioning data stored in the servo operator memory can be
checked and edited.
In addition, new positioning data can be registered to the servo operator memory.
• Communications setup
The communications conditions between the servo operator and the PC can be
set.
For the explanation of buttons on each screen, refer to the PC loader help.
14
14.8 Parameter Conversion

Tool
The parameter file conversion tools [BSD→BSDS] convert the parameter files of
BSD series to those of BSDS series respectively.
By setting the conversion conditions after loading the parameter file for BSD series,
the files can be converted into and saved as the parameter file for BSDS series.
How to convert the file from the parameter file for BSD series to the one for BSDS
series is explained on the next page.
 Reference screen
14
 Operation method
Loading the parameter file
[1] Click “File Load” on the parameter file screen to display the window below.
Select the file to be converted and click “Open”.
[2] The file path name of the loaded parameter file is displayed.
In addition, the information regarding the file appears in the Detailed information
part including [Model type before conversion].
If the parameter file for an amplifier for optional item (Z No.) is selected, an error message
appears.
14
Setting the conversion condition

[3] Model setting before conversion – Motor
When the parameter file with which the motor type information can be obtained is
loaded, the motor model before conversion is automatically set.
If the parameter file with which the motor type information is not clear is loaded,
set the motor model before conversion manually. In this case, select the motor
model before conversion.
■ When the parameter file with which the motor type

information can be obtained is loaded.
(The motor model is automatically set and the data
cannot be changed.)
■ When the parameter file with which the motor type

information is not clear is loaded
(Select the motor model.)
[4] Gain system parameter conversion

Select whether to convert the gain system parameter.
When “Yes” is selected for gain system parameter
conversion, the gain system parameter is included in the
conversion operation.
When “None” is selected, the gain system parameter is not
converted.
14
■ When “Yes” is selected with gain system parameter conversion, the motor models
before conversion and after conversion are dealt as the same in gain system parameter
conversion. Therefore, the data of motor model after conversion is set same as the motor
model before conversion.
Motor setting before conversion Motor setting after conversion Remarks
BSMS(750W or less)
BSM0100 N00
BSM0200 N00
BSM0400 N00
BSM0750 㻱㻓㻓
BSM1000 N01 BSMS(Rated rotation speed:2000r/min)
BSM1500 N01
BSM2000 㻱㻓㻔
[5] Control mode selection

Select the command pulse input method to be used.
[6] Model setting after conversion

Select the motor model used after conversion.
Use the motor same as that before conversion:

Select this when the same motor is used after
conversion.
Use the motor different from that before conversion:

Select this when a different motor is used after conversion.
Encoder: Select the encoder after conversion.

14
Motor: Select the motor model after conversion.
Conversion execution
[7] After the parameter file is loaded and the conversion condition
setting is complete, click the “conversion execution”.
■ When an error message appears.

If the conversion conditions are insufficient, an error message appears.
Error item: Selection is not made in motor model before conversion.

Countermeasure: Select a model for motor model before conversion.
[7] When “conversion execution” is complete, the conversion result is displayed.
(1) (2) (3) (4) (5) (6) (7)
14
Contents of the conversion result screen

The following contents are displayed on the conversion result screen.
Parameter 㻋㻔㻌㻃 No. BSD parameter nos.
before 㻋㻕㻌㻃 Setting value Setting values of parameter file for BSD before
conversion conversion
Parameter after 㻋㻖㻌㻃 PA BSDS parameter nos.
conversion 㻋㻗㻌㻃 Setting item BSDS parameter names
㻋㻘㻌㻃 Setting value BSDS setting values (result from conversion)
㻋㻙㻌㻃 Setting range BSDS parameter setting range
㻋㻚㻌㻃 Initial value BSDS parameter initial values
The conversion results of the parameter are color coded in (3)(4)(5) on the
conversion result screen.
Display colors in Conversion results

㻋㻖㻌㻋㻗㻌㻋㻘㻌
Characters in Parameters not included in conversion work (default)
black
Characters in Converted parameters
blue
Characters in red Parameters not included in the range as the result of conversion
(default)
(Yellow) Parameters that need to be set again or adjusted as appropriate.
(Green) Parameters that cannot be converted due to lack of required
functions
[8] Saving the conversion result

 BSDS parameter file － Save
Save the conversion result into the BSDS
parameter file.
Click the “Save” with BSDS parameter
to display the window on the right.
Input the file name and click “Save”.
14
࣬Make sure to check all the conversion results in theBSDS parameter file of conversion
result and adjust accordingly before writing the data into the amplifier.
࣬To adjust the conversion result, use “parameter edit” in “BSDS configulator”.
࣬After the conversion result have been checked and adjusted appropriately with BSDS
configulator, write the parameters into the amplifier by “Send all”.
 Conversion result CSV output － Save

Save the conversion result in CSV format.
The window below appears when “Save” is clicked with conversion result CSV
output.
Input the file name and click “Save”.
Contents of the conversion result CSV output file

The data of the following contents are stored into the CSV file.
14
Before of conve After of conversion

Encoder 16 20
Max. rotation speed 5000 6000 *10
Rated rotation speed 3000 3000
Max. torque 300 300
[Conversion result]
(None):Parameter for none object conversion.(Initial Value)
*1:Converted parameter.
*2:It is a parameter outside the range according to the conversion result.(Initial Value)
*3:Parameter for which re-setting and readjustment are necessary.
*4:Parameter that cannot be converted because pertinent function is not provided.
*11
[Before of conversion] [After of conversion]
No. Actual value PA Parameter name Actual value Value range Initial value Conversion result
1_01 Control mode selection 6 0:Position 1:Speed 2 0 *1
SYP99 0 -> 1_02 INC / ABS system selection 0 0:Incremental system 0 *1
SYP78 1 -> 1_03 Command pulse form selection 1 0:Command pulse / d 1 *1
SYP80 0 -> 1_04 Rotation direction selection 0 0:CCW rotation at forw 0 *1
1_05 Number of command input puls 0 0:Electronic gear(PA1 0
SDP91 8 -> 1_06 Numerator 0 of electronic gear 128 1 to 4194304 16 *1
SDP92 1 -> 1_07 Denominator of electronic gear 1 1 to 4194304 1 *1
SYP79 2048 -> 1_08 Number of output pulse per rev 2048 0:Electronic gear for o 2048 *1
.
.
.
*6 *3
*1 *7 *4
*5 *10
*2 *8
*9
*11
14
Appendixes 533
15
15
534 Appendixes
Command position
Filter
Command Command
pulse cumulative Command command Speed Command
frequency pulse speed deviation Peak torque
speed torque
Electronic DC link
gear Peak voltage
calculation
Diagram
Command Electronic Command Position Speed Torque Current

pulse gear filter adjuster adjuster filter control Motor
Inertia of load
estimation and
Position calculation
deviation
Derivation Encoder
Electronic
gear Feedback Motor Calculation of
Feedback Load inertia effective value
speed current
cumulative pulse ratio
Effective
Feedback
torque
position
15.1 Status Indication Block
Appendixes 535
15.2 Main Circuit Block

Diagram
Applicable model
Frame1
15
536 Appendixes
Applicable model
Frame2, Frame3, Frame4
* The 1Ph can be applied only to the frame 2a.
15
Electronic gear
PA1_05 : Number of command input pulses per
revolution
PA1_53 : PA1_51 : Moving PA1_52 : Low-pass
PA1_06 : Numerator 0 of electronic gear
Command Command pulse average S-curve filter(for S-curve)
PA1_07 : Denominator of electronic gear
PA2_51 : Numerator 1 of electronic gear ratio smoothing function time time constant
PA2_52 : Numerator 2 of electronic gear ratio
PA2_53 : Numerator 3 of electronic gear ratio
Inertia model calculation (vibration control)

PA1_78 : Vibration suppressing anti resonance frequency 0
PA1_79 : Vibration suppressing workpiece inertia ratio 0
PA1_82 : Vibration suppressing anti resonance frequency 2 PA1_95 : Model torque calculation selection,
PA1_83 : Vibration suppressing workpiece inertia ratio 2 speed observer selection
PA1_86 : Vibration suppressing damping coefficient
PA1_54 : Position PA1_68 : Acceleration Inertia model calculation

PA1_87 : Model torque
command response compensation gain for [1+(PA1_14 : Load inertia ratio)]
filter time constant
time constant position control *(dv/dt)
Friction compensation
PA1_92 : Speed range for friction compensation
PA1_93 : Coulomb friction torque for
compensation
Position adjuster Speed adjuster

PA1_59 :Torque filter time constant for
PA1_55 : Position loop gain 1 PA1_56 :Speed loop gain 1
Control PA1_64 : Position loop gain 2 PA1_57 :Speed loop integration time
constant 1 PA1_71 :Notch filter 1 frequency Motor
model PA1_88 : Position loop integration time PA1_72 :Notch filter 1 attenuation
PA1_65 :Speed loop gain 2
constant PA1_73 :Notch filter 1 width
PA1_66 :Speed loop integration time
PA1_89 : Position loop integration limiter PA1_74 :Notch filter 2 frequency
constant 2
PA1_90 :Load torque observer PA1_75 :Notch filter 2 attenuation
PA1_91 :P/PI automatic change selection PA1_76 :Notch filter 2 width
Position Speed
detection Encoder
detection
PA1_58 : Feed forward gain 1
PA1_67 : Feed forward gain 2
15.3 Control Block Diagram
Appendixes 537
15
538 Appendixes
15.4 Parameter List

 PA1_: Basic setting parameters
Control mode Record of reference
No. Name Power
01 Control mode selection
02 INC/ABS system selection
03 Command pulse input method and form - -
selection
04 Rotation direction selection
Number of command input pulses per
05 - -
revolution
06 Numerator 0 of electronic gear - - -
07 Denominator of electronic gear - - -
08 Number of output pulses per revolution
Numerator of electric gear for output
09
pulses
Denominator of electric gear for output
10
pulses
Output pulse phase selection at CCW
11
rotation
12 Z-phase position offset
13 Tuning mode selection - -
14 Load inertia ratio - -
15 Auto tuning gain 1 - -
16 Auto tuning gain 2 - - -
20 Easy tuning: stroke setting -
21 Easy tuning: speed setting -
22 Easy tuning: timer setting -
23 Easy tuning: direction selection -
Max. rotation speed (for position and
25 - -
speed control)
26 Max. rotation speed (for torque control) - - -
27 Forward rotation torque limit -
28 Reverse rotation torque limit -
29 Speed coincidence range - -
30 Zero speed range -
31 Deviation unit selection - - -
32 Zero deviation range/In-position range - - -
33 In-position output format - -
34 In-position minimum OFF time/ Single shot - - -
ON time
35 In-position judgment time - - -
Acceleration / deceleration selection at
36 - -
speed control
15
Appendixes 539

No. Name Power
37 Acceleration time 1
38 Deceleration time 1
39 Acceleration time 2
40 Deceleration time 2 -
Manual feed speed 1 for position and
41 speed control / speed limit 1 for torque
control
control
control
44 speed control / speed limit 4 for torque -
control
control
control
control
Parameters marked " " in the table are enabled in the corresponding control mode.
 PA1_: Control gain and filter setting parameters

No. Name Power
51 Moving average S-curve time - - -
52 Low-pass filter (for S-curve) time constant - -
53 Command pulse smoothing function - - -
Position command response time - - -
54
constant
55 Position loop gain 1 - - -
56 Speed loop gain 1 - -
57 Speed loop integration time constant 1 - -
58 Feed forward gain 1 - - -
Torque filter time constant for position and - -
59
speed control
Torque filter time constant for torque - - -
60
control
61 Gain changing factor - -
62 Gain changing level - -
63 Gain changing time constant - -
64 Position loop gain 2 - - -
65 Speed loop gain 2 - -
66 Speed loop integration time constant 2 - -
15
540 Appendixes

No. Name Power
67 Feed forward gain 2 - - -
Acceleration compensation gain for
68 - - -
position control
70 Automatic notch filter selection - -
71 Notch filter 1 frequency - -
72 Notch filter 1 attenuation - -
73 Notch filter 1 width - -
74 Notch filter 2 frequency - -
75 Notch filter 2 attenuation - -
76 Notch filter 2 width - -
77 Automatic vibration suppressing selection - - -
Vibration suppressing anti resonance
78 - - -
frequency 0
Vibration suppressing workpiece inertia
79 ratio (vibration suppressing resonance - - -
frequency) 0
80 - - -
frequency 1
frequency) 1
82 frequency 2
- - -
frequency) 2
84 - - -
frequency 3
frequency) 3
86 Vibration suppressing damping coefficient - - -
87 Model torque filter time constant - -
88 Position loop integration time constant - - -
89 Position loop integration limiter - - -
90 Load torque observer - -
91 P/PI automatic change selection - -
92 Speed range for friction compensation - -
Coulomb friction torque for friction
93 - -
compensation
94 Torque filter setting mode - -
Model torque calculation selection, speed
95 - -
observer selection
96 Speed limit gain for torque control - - -
 PA2_: Automatic operation setting parameters

No. Name Power
15
Appendixes 541

No. Name Power
01 Decimal point position of positioning data -
06 Homing speed - - -
07 Creep speed for homing - - -
08 Starting direction for homing - -
09 Reverse traveling unit amount for homing - - -
10 - -
detection
11 Reference signal for shift operation - -
12 - -
13 Home position LS signal edge selection - -
14 Home position shift unit amount - - -
15 Deceleration operation for creep speed - -
16 Home position after homing completion - - -
17 Home position detection range - - -
18 Deceleration time at OT during homing - - -
19 Preset position - - -
20 Interrupt traveling unit amount - - -
22 Detection time for contact-stopper - - -
23 Torque limit for contact-stopper - - -
24 Selection of operation at OT during
homing
- -
25 Software OT selection (PA1_01=1 to 6) /
-
positioning operation type (PA1_01=7)
26 Positive software OT detection position - -
27 Negative software OT detection position - -
28 Positive limiter detection position - - -
29 Negative limiter detection position - - -
31 Point detection, area detection -
32 -
position 1
Point detection area detection
33 -
position 2
34 Point detection range -
36 Override 1
37 Override 2 - -
38 Override 4
39 Override 8 - -
40 Internal positioning data selection - -
41 Sequential start selection - -
42 Decimal point position of stand still timer - - -
43 Output selection at M code OFF - -
15
44 Positioning extended function - -
542 Appendixes
Parameters marked  in the table are enabled in the corresponding control mode.
 PA2_: Extended function setting parameters

No. Name Power

52 Numerator 2 of electronic gear - - -
54 Command pulse ratio 1 - - -
55 Command pulse ratio 2 - - -
56 Speed limit selection at torque control - -
57 Torque limit selection -
58 Second torque limit - -
59 Deviation hold selection at torque limit - -
60 Third torque limit - -
61 Action sequence at servo-on OFF
62 Action sequence at alarm
63 Action sequence at main power shutoff
64 Torque keeping time to holding brake -
65 Regenerative resistor selection
66 Flying start at speed control - -
67 Alarm detection at undervoltage
69 Deviation detection overflow value - - -
70 Overload warning value -
72 Station number for communications
73 Communication baud rate (RS-485)
74 Parameter write protection -
75 Positioning data write protection - - -
77 Initial display of the keypad
78 Display transition at warning detection
15
Appendixes 543

No. Name Power
86 Positioning data in RAM 1 - -
89 Sequence test mode: mode selection
90 Sequence test mode: encoder selection
93 Parity/stop bit selection (for Modbus) - -
94 Response time (for Modbus) - - -
95 Communications time over time - - -
(for Modbus)
97 Communications protocol selection - - -
98 GY******2-T2*-*Motor type setting
99 Encoder selection
Parameters marked in the table are enabled in the corresponding control mode.
 PA3_: Input terminal function setting parameters

No. Name Power

15
544 Appendixes

No. Name Power
26 CONT always ON 1
27 CONT always ON 2
28 CONT always ON 3
29 CONT always ON 4
30 CONT always ON 5
31 Speed command scale -
32 Speed command offset -
33 Torque command scale -
34 Torque command offset -
35 Zero clamp level - -
36 Deviation clear overflow input form - -
39 Speed command fine adjustment gain -
40 Torque command fine adjustment gain -
Address free assignment 1
41
(for Modbus)
42
(for Modbus)
43 (for Modbus)
44
(for Modbus)
15
Appendixes 545
 PA3_: Output terminal function setting parameters

No. Name Power
81 Monitor 1 signal assignment -
82 Monitor 2 signal assignment -
83 Monitor 1 scale -
84 Monitor 1 offset -
85 Monitor 2 scale -
86 Monitor 2 offset -
87 Monitor 1/2 output format -
Command pulse frequency sampling time
88 - - -
for monitor
89 Feedback speed sampling time for monitor -
92 Range1 of position: Setting1 - - -
Parameters marked " " in the table are enabled in the corresponding control mode.
15
546 Appendixes
15.5 Capacity Selection

Calculation
15.5.1 Type of Mechanical System
The mechanical system driven by a variable speed motor includes the following types.
Mechanism Features
Ball screw (direct coupling)
Used for a relatively short distance and accurate positioning.

The motor is connected with the ball screw via a coupling and no
play is included.
Ball screw (geared)
A reduction gear is included so that the torque transmitted to the

mechanical system becomes large.
Because of a gear backlash, compensation measures are
necessary.
Rack & Pinion
Used for positioning of a relatively long distance (such as carrier

drive).
Because a value is included in each pinion rotation,
compensation measures are necessary.
Timing belt (conveyor)
Has a relatively large degree of freedom when compared with chain.

Mainly for small loads.
Because a value is included in the traveling distance of each
pulley rotation, compensation measures are necessary.
When applying the servo system to a mechanical system, take care of the following points.
(1) Reduction ratio
Use nearly at the rated speed (maximum rotation speed) of the motor to take
advantage of the servomotor power. The continuous output torque at the
maximum rotation speed is smaller than the rated torque.
(2) Preload torque
The load torque of a preloaded screw is large while the rigidity is increased. For
the friction torque caused by the preload, refer to the specifications of the ball
screw.
(3) Retention torque
The servomotor keeps outputting the retention force in the stopping state of a
15 hoisting machine.
Use of a retention brake is recommended if the time allows.
Appendixes 547
Mechanism Features
Chain drive
Mainly used for the transfer line. Countermeasures against

elongation of the chain itself are necessary. Used mainly for
relatively large reduction ratios; the traveling speed of the
mechanical system is small.
Feed roll
The material on a plate (band) is sandwiched between rolls and fed.

Because the roll diameter is not obtained accurately, there is an
error in a long distance.
compensation is necessary.
Sudden acceleration causes slippage, resulting in shortage in the
feeding amount.
Table indexing
Because the moment of inertia of the table is large, a sufficiently

large reduction ratio is necessary.
The table rotation speed is low and a worm gear is usually used.
Spindle drive
Because winding of a wire material results in a larger moment of

inertia, a sufficiently large reduction ratio is necessary.
To achieve a constant surface speed, examination must be made,
including peripheral equipment.
 Approximate machine constants

Approximate friction coefficient Material density
3
Mechanism Friction coefficient Material Density kg/m
3
Rail and iron wheel Copper 8.96 10
0.05 3
(Carrier and crane) Brass 8.54 10
3
Linear guide Stainless steel 7.91 10
3
Ball spline Iron 7.85 10
0.05 to 0.2 3
Roller table Aluminum 2.7 10
3
Roller system Polyacetals 1.43 10
15
548 Appendixes
Approximate mechanical efficiency
Mechanism Mechanical efficiency

Trapezoidal screw thread 0.5 to 0.8
Ball screw 0.9
Rack & Pinion 0.8
Gear reducer 0.8 to 0.95
Worm reducer
0.5 to 0.7
(starting)
Worm reducer
0.6 to 0.8
(during operation)
Belt transmission 0.95
Chain transmission 0.9
Module
(Pitch circle diameter of gear)

(Module) =
(Number of teeth)
* Metric gear
* Module
0.5 0.75 0.8 1 1.5 2 2.5 3 4 5 6 7
Chain size
No. Pitch No. Pitch
15 4.762 80 25.4
25 6.35 100 31.75
35 9.525 120 38.1
40 12.7 140 44.45
50 15.875 160 50.8
60 19.05 180 57.15
15.5.2 Capacity Selection Calculation

Perform capacity selection calculation to obtain the servomotor capacity necessary
for machine specifications (configuration).
Items necessary for capacity selection calculation include the following.
• Load inertia (moment of inertia of mechanical system)
• Load torque (torque necessary to move the machine)
• Acceleration/Deceleration time
• Operation profile
In general, there is no way to measure the inertia of the mechanical system and load
torque, calculate approximate values according to the configuration of the machine.
15
Appendixes 549
Follow the procedure below to perform capacity selection calculation.

Capacity selection flow chart
(1) Calculate the motor speed according to the
Start configuration of the machine and the line
speed.
(1) Calculate the motor speed. (2) Calculate the load inertia according to the
configuration of the machine.
Calculate the moment of (3) Calculate the load torque according to the
(2)
inertia of load.
configuration of the machine.
Calculate the load torque (4) Temporarily select the motor capacity.
(3)
TL.
(5) Check the shortest acceleration/
deceleration time. If the time is designated,
calculate the necessary
Temporarily select the
acceleration/deceleration torque.
(4) motor capacity.
(6) Create the torque pattern according to the
Calculate the shortest operation pattern.
(5) acceleration/deceleration time.
(Calculate the acceleration/
deceleration torque.)
(7) Calculate the effective torque according to
the torque pattern.
(6) Create the torque pattern.
(8) If the effective torque (Trms) is smaller than
the rated torque (TR), operation can be
Calculate the effective made with the designated operation
(7) torque.
pattern.
No (9) Calculate the regenerative power and, if

(8) Trms<T
_ R necessary, select the regenerative resistor.
Yes
(10) (10) Review the specifications of the machine if
Review specifications of the possible.
Calculate the regenerative
(9) power.
machine. Change the operation
pattern.
End
15
550 Appendixes
 Calculation of inertia
Shape
15
Appendixes 551
Conversion
Ball screw
W: Total mass of moving parts [kg]

BP: Thread lead [mm]
GL: Reduction ratio (no unit)
Rack & Pinion, conveyor and chain drive

D: Diameter of pinion [mm]
Diameter of sprocket [mm]
Feed roll

D: Roll diameter [mm]
Rotating body and table drive
Obtain the sum of inertia of each shape.

Inertia of body located at a distance from the axis of rotation
J: Inertia around the center of gravity of body

W: Mass of body [kg]
L: Distance between body and axis of rotation [mm]
15
552 Appendixes
 Calculation of load torque (Tl)
Ball screw
Traveling speed Mass of moving parts

V W
Reduction ratio
GL
Screw lead
: Friction coefficient BP: Screw lead [mm]
L
W, W1: Mass of moving parts [kg]
Rotation speed of
motor shaft
N W2: Mass of counterweight [kg]
GL: Reduction ratio (no unit) F: Thrust [kg]
Hoisting (vertically)
Descending (vertically)
At a stop (vertically)
Conveyor and rack & pinion

Mass of moving parts
W
Traveling speed
V
Reduction ratio
GL
: Friction coefficient D: Diameter [mm]
Rotation speed of
W, W1: Mass of moving parts [kg]
motor shaft
N W2: Mass of counterweight [kg]
Diameter of pinion
D GL: Reduction ratio (no unit)
Hoisting (vertically)
Descending (vertically)
At a stop (vertically)
15
Appendixes 553
(1) Calculating the motor speed (N)

Calculate the motor shaft speed according to the configuration of the machine
and the line speed.
(2) Calculating the load inertia (JL)
Calculate the inertia (GD2) of the load of the mechanical system converted to the
motor shaft.
Calculate the inertia of the parts rotating (moving) along with motor rotation, and
obtain the sum of all.
(3) Calculating the load torque (TL)
Calculate the load torque converted to the motor shaft.
(4) Temporarily select the motor capacity
Select the motor capacity satisfying the following two conditions.
• Allowable load inertia
JL ≤ JM × 100 (30)..........In case of slow travel under speed control
JL ≤ JM × 30 (10)............In case of positioning under position control
JL ≤ JM × 10 (-)...............In case of frequent positioning
(Approximate measure: Starting and stopping at every 0.5 seconds or more
frequently)
Values in parentheses indicate operation with the BSMS motor.
• Load torque
TL ≤ TR × 0.9..................0.9 indicates a typical margin of safety.
(5) Calculating the shortest acceleration/deceleration time (calculating the
accelerating/decelerating torque)
Check the shortest acceleration/deceleration under consideration of load
conditions. If the acceleration/deceleration time is designated, calculate the
acceleration/deceleration torque (Mechanical efficiency (η)： assuming 100%).
• Shortest acceleration/Deceleration time

(JM + JL) 2 (N)
tMIN =
60 (TMAX - TL)
• Acceleration torque
(JM+ JL) 2 (N)
TAC = TL+
60( tAC )
• Deceleration torque
(JM+ JL) 2 (N)
TDC = TL-
60( tDC )
where
tAC : Acceleration time [s]
TAC : Acceleration torque [Nm]
tDC : Deceleration time[s]
2
TDC : Deceleration torque [Nm]
JM : Inertia of servomotor [kgm ]
2
TMAX : Max. torque [Nm]
JL : Inertia of load converted to motor shaft [kgm ]
: Rotation speed [r/min]
TL : Load torque converted to motor shaft [Nm]
15
tMIX : Shortest acceleration/deceleration time [s]
554 Appendixes
(6) Creating the torque pattern

Create the pattern of the output torque according to the operation pattern.
Operation pattern
Travel
speed
Time
Torque pattern
Output TAC: Acceleration torque

torque tDC
TL: Load torque
Time
tAC tL
TDC: Deceleration torque

tcyc
(7) Calculating the effective torque (Trms)

Calculate the effective torque of each cycle of the operation pattern.
2 2 2
(TAC tAC) + (TL tL) + (TDC tDC)
Trms =
tCYC
Obtain the sum of each of the product of the squared output torque multiplied by
the output time and divide the sum by the cycle time, and obtain the square root
of the result.
(8) Trms ≤ Tr
If the effective torque is equal to or smaller than the rated torque, continuous
operation in the designated operation pattern is possible.
15
Appendixes 555
(9) Calculating the regenerative power

Regenerative operation is caused while the torque value is negative, in general
as indicated below.
Horizontal feed: During deceleration
Vertical feed: During constant speed feed in the lowering cycle and during
deceleration
Regenerative energy during deceleration (E1)

E1[J] = (2 /60) TDC[Nm] N[r/min] tDC (1/2)
Regenerative power during constant speed feed (E2) Mainly in lowering cycle
E2[J] = (2 /60) TL[Nm] N[r/min] tL TDC : Deceleration torque [Nm]
TL : Load torque [Nm]

Accumulated energy on main circuit capacitor (E3) tDC : Deceleration time [s]
2
E3[J] = (1/2) C[F] V tL : Constant speed time [s]
2 2
= (1/2) C[F] {390 - (200 2) } tcyc : Cycle time [s]
C : Servo amplifier capacitor capacity [F]

Regenerative power (P) See page 15-29.
P[W] = { | (E1 + E2) | - E3} / (tcyc) V
2
: Regenerative transistor ON level
2
2
P 0: No external regenerative resistor is necessary. - (200 2)
2
P>0: The external (internal) regenerative resistor is = 3902 - (200 2)
necessary.
Calculate the average regenerative power (P) of each cycle of the operation pattern1
to check if P is within the regenerative resistor capacity. If it is not, an external
regenerative resistor is necessary.
(10) Reviewing the operation pattern and mechanical configuration

If Trms exceeds TR, review the following items.
• Increase the acceleration/deceleration time a little in the allowable range.
• Reduce the operation frequency (increase the cycle time).
• If the rotation speed allows, increase the reduction ratio.
• Increase the motor capacity.
• If the stopping time of a hoisting machine is too long, adopt a mechanical
brake.
• In case of operation at a high frequency, increase the reduction ratio and
reduce the inertia.
15
556 Appendixes
15.5.3 Capacity Selection Calculation Example
 Mechanical configuration
Servomotor
(15) Transfer weight [W] : 20 kg (11) Friction factor [ ] : 0.1 N
(16) Deceleration ratio [GL] : 1 1 (12) Screw lead [BP] : 10 mm
(17) Mechanical efficiency [ ] : 0.9 (13) Screw length [L] : 500 mm
(18) Load thrust [F] : 0 kg (14) Screw dia. [D] : 20 mm
 Operation profile
Rotation 3000 r/min

speed Travel
[r/min] distance
50 mm
Time
[s]
0.05 s 0.05 s 0.05 s 0.5 s/cycle
 Capacity selection software
15
Appendixes 557
(1) Max. traveling speed (v)

If the reduction ratio is 1/1 and the rotation speed of the motor shaft is 3000 r/min
v = (3000/60) × 10×(1/1) = 500 mm/s
(2) Load inertia converted to motor axis (JL)

• Screw (J1) Suppose Ø20 and 500 mm in length.
4
L D1 2
J1 = GL
32 1000 1000
3 4
7.85 10 500 20 2
= ( 1/1)
32 1000 1000
-4 2
= 0.6 10 kg m
• Moving parts (J2) Suppose a transfer mass of 20 kg.

2
1 BP 2
J2 = W (GL)
2 1000
2
1 10 2
= 20 ( 1/1)
2 1000
-4 2
= 0.5 10 kg m
-4 2
JL = J1 + J2 = 1.1 10 kg m
(3) Load torque converted to motor axis (TL)

Suppose a transfer mass of 20 kg, friction coefficient (µ) of 0.1 and machine
efficiency (η) of 0.9.
( W + F) 9.81 BP
TL = GL BP : Screw lead [mm]
2 1000
D : Screw dia. [mm]
(0.1 20 + 0) 9.81 10 GL : Deceleration ratio
= (1/1)
2 0.9 1000 JL : Load inertia converted to motor
2
= 0.03 Nm shaft [kgm ]
L : Screw length [mm]
TL : Load torque converted to motor
shaft [Nm]
W : Transfer weight [kg]
: Friction factor
15
558 Appendixes
(4) Temporary selection

[Capacity selection condition]
2
JL : Load inertia torque converted to motor shaft [kgm ]
[Capacity selection condition]
2
JM : Motor inertia [kgm ]
TL TR 0.9
TL = 0.03 Nm *P.15-26 (3)
JL JM 10 (Frequent feed)
-4 2 TL : Load torque converted to motor shaft [Nm]
JL = 1.1 10 kg m *P.15-26(2)
TR : Rated torque [Nm]
The motor that satisfies the capacity selection condition (1) and (2) is:
GYS201D5-HB2 (0.2 kW)
-4 2
(TR = 0.637 Nm, J M = 0.135 10 kgm , TMAX = 1.91 Nm)
(5) Shortest acceleration/deceleration time (tAC)

(JM + JL) 2 N
TAC =
60 (TAC - TL)
-4 -4
(0.135 10 + 1.1 10 ) 2 3000
=
60 (1.91 - 0.03)
= 0.021 s
Acceleration/Deceleration torque at an acceleration/Deceleration time of 0.05

seconds (Mechanical efficiency (η) : assuming 100%)
[Acceleration torque]
(JM + JL) 2 N
TAC = TL +
60 (tAC)
-4 -4
(0.135 10 + 1.1 10 ) 2 3000
= 0.03 +
60 0.05
= 0.81 Nm
[Deceleration torque]
(JM + JL) 2 N
TDC = TL -
60 (tDC)
-4 -4
(0.135 10 + 1.1 10 ) 2 3000
= 0.03 -
60 0.05
= -0.75 Nm
15
Appendixes 559
(6) Operation profile
Speed 500 mm/s

[mm/s] Travel
distance
50 mm
Time
[s]
0.05 s 0.05 s 0.05 s
0.5 s /cycle
Toque 0.81 Nm
[Nm]
0.03 Nm
Time
[s]
-0.75 Nm
This profile is based on calculation selection. The operation cycle time supposes 0.5 s.
(7) Effective torque (Trms)

Time-average output torque
2 2 2
(TAC tAC) + (TL tL) + (TDC tDC)
Trms =
tcyc
2 2 2
(0.81 0.05) + (0.03 0.05) + (-0.75 0.05)
= 0.5
= 0.35 Nm
Because the result is smaller than rated

torque (0.637 Nm) of the GYS201D5-HB2
type, continuous operation can be made
in the designated profile. TL : Load torque converted to motor
shaft [Nm]
(8) Result of selection tAC : Acceleration time [s]
Servomotor: GYS201D5-HB2 (0.2 kW) tDC : Deceleration time [s]
tL : Constant speed time [s]
tCYC : Running hour per cycle [s]
15
560 Appendixes
(9) Regenerative power

Regenerative power is caused during deceleration.
E1[J] = (2 /60) TDC [Nm] N [r/min] tDC (1/2)
= (2 /60) -0.75 3000 0.05 (1/2)
-5.9 J
Accumulated energy on main circuit capacitor (E2)

2
E2[J] = (1/2) C[F] V
-6 2 2
= (1/2) (440 10 ) {390 - (200 2) }
= 15.8 J
Regenerative energy (P)

The capacitor for the servo amplifier of 0.2 kW or less has a capacity of 440 μF.
P[W] = ( | E1 | - E2) / (tcyc)
=( | -5.9 | - 15.8) / 0.5
= -19.8 J
As P is equal to or less than 0, no external regenerative resistor is required since the

regenerative energy can be processed in the servo amplifier.
 Constants
■ 200 V series
Capacity Inertia Capacity of capacitor

Series -4 2
[kW] 10 [kg·m ] [µF]
0.1 0.0371
440
0.2 0.24
0.4 0.42 660
0.75 1.43
BSMS
1.0 6.26
1360
1.5 8.88
2.0 12.14
3.0 17.92 1800
15
Appendixes 561
15.6 Replacement
(from BSD)
15.6.1 Overview
This section describes the procedure of replacement to BSDS using the existing
BSD series motor (hereafter called “W motor”).
Target BSM motors 100w to 2.0kW
15.6.2 Combination with BSD Motor

The combinations between the BSD servo motor and the BSDS servo amplifier are
as follows. Wiring fabrication is required when replacing the amplifier.
Combinations between the BSD motor and the BSDS amplifier
BSDS series
BSD series
Amplifier type Frame
motor type
no.
BSM0100C BSDS0100
1a
BSM0200C BSDS0200
BSM0400C BSDS0400 1b
BSD
BSM0750C BSDS0750 2a
BSM1000C * BSDS1000
2b
BSM1500C * BSDS1500
BSM2000C * BSDS2000 3a
*: with oil seal/ shaft type

: N: With out brake B: With brake
15
562 Appendixes
15.6.3 Wiring between Motor and Amplifier

 BSM motor (400 W or less)
The table below shows the cables and the connectors for the BSM
servo amplifier.
motor of 400 W or less and the
Purchase
Motor power cable Existing item can be used.
(1) To be purchased.
Motor power connector
(Shared with power supply connector.)
(2) Power supply connector To be purchased.
(3) Sequence I/O cable Existing item can be used.
(4) Encoder cable To be purchased.
To be purchased.
(5) DC circuit connector (Not necessary if no external regenerative resistor is
used.)
: cable length
 Cable processing
(1) Motor power cable
servo amplifier (Frame1)
Cut the motor power cable
connector part on the amplifier
side, and then connect it to the
motor output side of the power
supply connector for BSDS.
(2) Power supply cable
Cut the power supply cable
connector part for BSD, and
then connect it to the power
Cut here.
supply side of the power supply
connector for BSDS.
(3) Sequence I/O cable
Cut here.
If the wiring of pulse is used with
an open collector, be sure to cut
Connection with a BSM motor(100W to 400W) the no. 7 pin (CA) and no.20
pin (CB) on the amplifier-side
connector.
(4) Encoder cable
Purchase an encoder cable for BSDS. Or, exchange the amplifier-side connector of
the existing encoder cable.
(5) DC circuit connector
This connector is used to connect the external regenerative resistor. Connect this to
the 2-3 terminal (RB1-RB2 terminal). This connector is not necessary if no external
15 regenerative resistor is used.
Appendixes 563
 BSM motor (750 W)

The table below shows the cables and the connectors for the BSM motor of 750 W
and the servo amplifier.
Purchase
(1)
Motor power connector To be purchased.
(4) Encoder cable To be purchased.
(5) DC circuit connector Supplied with the amplifier.
: cable length
servo amplifier (Frame2)

Cut the motor power cable
Cut here.
connector part on the amplifier
side, and then connect it to
the motor power connector for
BSDS.

Cut the power supply cable
Cut here. connector part for BSD, and
then connect it to the power
supply connector for BSDS.
Connection with a BSM motor (750 W)

If the wiring of pulse is used with an open collector, be sure to cut the no. 7 pin (CA)
and no.20 pin (CB) on the amplifier-side connector.
(4) Encoder cable

Purchase an encoder cable for BSDS. Or, exchange the amplifier-side connector of
the existing encoder cable.

If an external regenerative resistor is used, disconnect the short-circuit wire at 3-4
terminal (RB2-RB3 terminal) and connect it to the 2-3 terminal (RB1-RB2 terminal).
15
564 Appendixes
 BSM motor
The table below shows the cables and the connectors for the BSM motor and the
servo amplifier.
Purchase
(1)
Motor power connector To be purchased.
Purchase the connector for the
(4) Encoder cable
amplifier side only.
(6) DC circuit connector Supplied with the amplifier.
: cable length
servo amplifier (Frame2,3)
Cut here.
Cut here.
Connection with a BSM motor

Cut the amplifier-side connector part or the crimping terminal of the motor power
cable, and then connect it to the motor power connector for BSDS.
Cut the connector part of the power supply cable for BSD, and then connect it to the
power supply connector for BSDS.
If the wiring of pulse is used with an open collector, be sure to cut the no. 7 pin (CA)
and no.20 pin (CB) on the amplifier-side connector.
15 (4) Encoder cable
Appendixes 565
Wiring processing is required. Exchange the Amplifier-side connector to the

connector for BSDS For wiring refer to the connector connecting diagram.
Connecting diagram between the amplifier-side and motor-side connectors

Amplifier side Motor side

If an external regenerative resistor is used, disconnect the short-circuit wire at 3-4
terminal (RB2-RB3 terminal) and connect it to the 2-3 terminal (RB1-RB2 terminal).
15.6.4 I/O Terminal (CN1)

The following tables show comparison of the CN1 terminal between the BSD
amplifier and the BSDS amplifier. The terminal symbol differs only at the pin no. 18.
Thus wiring must be changed there. If the amplifier is used without changing the
wiring, the amplifier may be broken. Wiring change is not necessary with other pins.
Pin Terminal Terminal symbol Pin Terminal Terminal symbol

no. symbol (BSD) (BSDS) no. symbol (BSD) (BSDS)
1 P24 COMIN 14 M24 COMOUT
2 CONT1 CONT1 15 OUT1 OUT1
5 CONT4 CONT4 18 OUT4 TREF
6 CONT5 CONT5 19 PPI PPI
7 CA CA 20 CB CB
8 *CA *CA 21 *CB *CB
9 FFA FFA 22 Vref VREF
10 *FFA *FFA 23 FFZ FFZ
11 FFB FFB 24 *FFZ *FFZ
12 *FFB *FFB 25 FZ FZ
13 M5 M5 26 M5 M5
15
566 Appendixes
15.6.5 Parameter Setting

The parameters are not divided into classification with BSD, but are divided with
BSDS into classification of 1 to 3. If you are using the parameter files, use the
parameter file conversion tool (BSDS Configurator). This sub section explains major
parameters.
Before using the parameters. be sure to check the converted result with the parameter
file conversion tool.
 Parameters to be set
When used in combination with a W motor, set the Smart parameter PA2_99:
encoder selection to 1: 17 bits. In addition, set the motor model with Smart
parameter PA2-98. For the motor model and the setting value, see the table
below. It is necessary to match the amplifier frame with the servo motor capacity
for setting.
Setting value Motor model

2 BSM0100C
3 BSM0200C
4 BSM0400C
5 BSM0750C
8 BSM1000C *
9 BSM1500C *
10 BSM2000C *
*: with oil seal/ shaft type
: N: With out brake B: With brake
15
Appendixes 567
 Command pulse signal setting

It is necessary to set the parameter depending on the command pulse input
method (open collector input or differential input).
No. Parameter Setting value
0: Differential input, command pulse/direction
1: Differential input, forward/reverse pulse
2: Differential input, A/B phase pulse

Command pulse input method and
PA1-03 10: Open collector input, command
form selection
pulse/direction
 Parameter related to adjustment

Because the control block has been improved with BSDS, there are cases where
uses are required to adjust the control parameters. For the adjustment detail,
refer to “CHAPTER 5 SERVO ADJUSTMENT”.
 Motor maximum speed setting

The maximum speed is 5000 r/min and 6000 r/min with the BSM motor for BSD
series and the BSMS motor (750 W or less) for BSDS series respectively. When
using a BSM motor, the maximum speed that can be set is 5000 r/min. Although
the initial value at PA1_25: maximum speed (for position and speed control) and
PA1_26: maximum speed (for torque control) is 6000 r/min, the maximum speed
is limited with the amplifier to the one corresponding to the motor.
15
568 Appendixes
15.7 Precautions on
Functions
 Monitor display of motor temperature
When combined with a BSM motor, the motor temperature is always output and
displayed as 0 C° (for the following three items).
• Monitor 1 and 2 (Motor temperature output on analog monitors MON1 and MON2)
• Touch panel (Motor temperature display in the monitor mode [on_24])
• PC loader (Motor temperature display in the digital monitor)
 Z-phase with BSM series motor

When using the homing function immediately after the power is supplied, perform
the operation following the conditions below if the reference signal for shift operation
(PA2_11) has been set to 1: Encoder Z-phase.
• The speed must be 100 r/min or below.
• Rotate the motor by the angle of rotation of 372 degrees (approx. 1.04 turn) or
over with the motor output shaft.
15
Appendixes 569
15.7.1 Dimension Comparison of Servo Amplifier
BSD BSDS
Applicable
Capacity External dimension External dimension
motor [kW]
Rated speed [mm] [mm]
W H D W H D
0.1
45 160 165 40 160 165
3000 0.2
[r/min] 0.4 45 160 165 40 160 165
0.75 85 160 165 70 160 165
1.0 85 160 165 70 160 165

2000 1.5
95 200 185 70 160 165
[r/min] 2.0
3.0 95 200 185 85 200 185
15

Abb Manuale BSDS - Draft01-1

Uploaded by

Copyright:

Available Formats

Abb Manuale BSDS - Draft01-1

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Abb Manuale BSDS - Draft01-1

Uploaded by

Copyright:

Available Formats

Index 1

2.4 Encoder .................................................................................................................... 2-18

4.6.2 Description of Each Parameter............................................................................. 4-95

Chapter 5 Servo Adjustment

6.1.2 Key 6-3

Chapter 7 Maintenance And Inspection

9.1.1 Power-On Timing.................................................................................................. 9-2

Warning sign Meaning

(2) Graphic symbols

Graphic symbol Meaning Graphic symbol Meaning

• Use the servomotor and servo amplifier in a designated set.

• Do not store at places susceptible to rain or water splashes or toxic gases or 0

• Do not hold cables or motor shaft when transporting.

• Never remodel the servomotor and servo amplifier.

• Do not apply strong impact on the output shaft of the servomotor.

• Be sure to connect the grounding terminal of the servo amplifier to a grounding

 Harmonics suppression measures (for Japan)

 Compliance with EU directives

EU directives aim at integration of regulations among the EU member countries

 Compliance with RoHS directive

 Service life of EEPROM

 EC Directive and UL/CSA Standard

Low Voltage EMC Directive

0.2 Outline of System

0.2.2 Servo Amplifier

0.3 Model Nomenclature

If you have any uncertainties, contact the seller.

0.3.2 Servo Amplifier

0.4 Combination between

0.4.1 BSDS Type

Power Drive Motor w/o brake Motor w/ brake Nominal MAX

Item Environmental condition

1.1.2 Operating Environment

Item Environmental condition

Observe the following when operating.

• Install at a place advantageous for inspection and cleaning.

1.1.3 Installing the Servomotor

1.1.4 Water Proof and Oil Proof Properties

• To install the servomotor equipped with an oil seal in

an orientation with the shaft facing up, take measures

※ The protection level is the initial property.

1.1.5 Servomotor Handling Precautions

• Do not give a strong impact on the output shaft of the servomotor.

1.1.6 Notes on Stress Given to Cable

1.1.7 Assembling Accuracy

Servomotor model Runout at shaft Misalignment Perpendicularity of

1.1.8 Allowable Load

Radial load: the load applied vertically to the motor shaft

1.1.9 Cautionary Items on Servomotor Equipped with a

1.2 Servo Amplifier

1 Item Environmental condition

1.2.2 Operating Environment

Item Environmental condition

Observe the following when operating.

1.2.3 Installing the Servo Amplifier

Use M4 screws with length between 12 and 20 mm for the mounting to

Natural convection, air

Servo Servo Servo

2.1.3.1 Pulse Input (PPI, CA, CA, CB, CA)

㻖㻓㻓䂿㻏㻔㻒㻗㻺㻦㻤㻋㻦㻥㻌㻙㻕

2.1.3.2 Pulse Output (FFA, FFA, FFB, FFB, FFZ, *FFZ)

㻍㻩㻩㻤㻏㻋㻍㻩㻩㻥㻌㻏㻋㻍㻩㻩㻽㻌

Encoder cable preparation method